moveb (Auto Mode)

This is a function for moving the robot at constant velocity by blending the robot with the blending radius set in the path information after receiving path information consisting of one or more lines or arcs.

Definition
DRFLEx.h within class CDRFLEx, public section (line 787)

// motion control: blending move
bool moveb(MOVE_POSB tTargetPos[MAX_MOVEB_POINT],
           unsigned char nPosCount,
           float fTargetVel[2],
           float fTargetAcc[2],
           float fTargetTime = 0.f,
           MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
           MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE,
           DR_MV_APP eAppType = DR_MV_APP_NONE) {
    return _moveb(_rbtCtrl, tTargetPos, nPosCount, fTargetVel, fTargetAcc,
                  fTargetTime, eMoveMode, eMoveReference, eAppType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
tTargetPos	MOVE_POSB [MAX_MOVEB_POINT]		Maximum 25 path information
nPosCount	unsigned char		Number of valid paths
fTargetVel	float[2]		Linear Velocity, Angular Velocity
fTargetAcc	float[2]		Linear Acceleration, Angular Acceleration
fTargetTime	float	0.f	Reach Time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Enumeration Type
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	Refer to the Definition of Enumeration Type

Note

• If an argument is inputted to fTargetVel (e.g., {30, 0}), the input corresponds to the linear velocity of the motion, while the angular velocity is determined proportionally to the linear velocity.

• If an argument is inputted to fTargetAcc (e.g., {60, 0}), the input corresponds to the linear acceleration of the motion, while the angular acceleration is determined proportionally to the linear acceleration.

• If fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and fTargetAcc.

• When eMoveMode is MOVE_MODE_RELATIVE, each pos on the posb list is defined as a relative coordinate for the preceding pos.

Caution

• A user input error is generated if the blending radius in tTargetPos is 0.

• A user input error is generated due to the duplicated input of Line if contiguous Line–Line segments have the same direction.

• If the blending condition causes a rapid change in direction, a user input error is generated to prevent sudden acceleration.

• This function does not support online blending of previous and subsequent motions.

Return

Value	Description
0	Error
1	Success

Example

MOVE_POSB xb[4];
memset(xb, 0x00, sizeof(xb));
int seqNum = 4;
float tvel[2] = { 50, 50 };
float tacc[2] = { 100, 100 };

xb[0]._blendType = 0;   // line
xb[0]._fBlendRad = 50;
xb[0]._fTargetPos[0] = 559;
xb[0]._fTargetPos[1] = 234.5;
xb[0]._fTargetPos[2] = 651.5;
xb[0]._fTargetPos[3] = 0;
xb[0]._fTargetPos[4] = 180;
xb[0]._fTargetPos[5] = 0;

xb[1]._blendType = 1;   // circle
xb[1]._fBlendRad = 50;
xb[1]._fTargetPos[0] = 559;
xb[1]._fTargetPos[1] = 234.5;
xb[1]._fTargetPos[2] = 451.5;
xb[1]._fTargetPos[3] = 0;
xb[1]._fTargetPos[4] = 180;
xb[1]._fTargetPos[5] = 0;

xb[2]._blendType = 0;   // line
xb[2]._fBlendRad = 50;
xb[2]._fTargetPos[0] = 559;
xb[2]._fTargetPos[1] = 434.5;
xb[2]._fTargetPos[2] = 451.5;
xb[2]._fTargetPos[3] = 0;
xb[2]._fTargetPos[4] = 180;
xb[2]._fTargetPos[5] = 0;

xb[3]._blendType = 0;   // line
xb[3]._fBlendRad = 50;
xb[3]._fTargetPos[0] = 559;
xb[3]._fTargetPos[1] = 234.5;
xb[3]._fTargetPos[2] = 251.5;
xb[3]._fTargetPos[3] = 0;
xb[3]._fTargetPos[4] = 180;
xb[3]._fTargetPos[5] = 0;

// Moves the robot from the current position through a trajectory consisting of LINE–CIRCLE–LINE–LINE,
// maintaining velocity 50 (mm/sec, deg/sec) and acceleration 100 (mm/sec2, deg/sec2).
// Blending to the next segment begins when the distance of 50 mm from the end point of each segment is reached.
drfl.moveb(xb, seqNum, tvel, tacc);

This example executes a blended path of line and circular segments at constant speed/acceleration, using a 50 mm blend radius to smoothly connect each segment.