movej (Auto Mode)

This is a function for moving the robot from the current joint location to target joint location in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 771)

// motion control: joint move
bool movej(float fTargetPos[NUM_JOINT],
           float fTargetVel,
           float fTargetAcc,
           float fTargetTime = 0.f,
           MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
           float fBlendingRadius = 0.f,
           BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE) {
    return _movej(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc,
                  fTargetTime, eMoveMode, fBlendingRadius, eBlendingType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint location for six axes
fTargetVel	float		Velocity
fTargetAcc	float		Acceleration
fTargetTime	float		Reach Time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Enumeration Type
fBlendingRadius	float		Radius for blending
eBlendingType	BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	Refer to the Definition of Enumeration Type

Note

• When fTargetTime is specified, fTargetVel and fTargetAcc are ignored, and the process is done based on fTargetTime.

  

  
  

Caution

If the following motion is blended with the conditions of eBlendingType being BLENDING_SPEED_TYPE_DUPLICATE and fBlendingRadius > 0, the preceding motion can be terminated after the following motion is terminated first when the remaining motion time (determined by remaining distance, velocity, and acceleration of the preceding motion) is greater than the motion time of the following motion.

Return

Value	Description
0	Error
1	Success

Example

// CASE 1
float q0[6] = { 0, 0, 90, 0, 90, 0 };
float jVel = 10;
float jAcc = 20;
drfl.movej(q0, jVel, jAcc);
// Moves to the q0 joint angle with velocity 10(deg/sec) and acceleration 20(deg/sec2)

// CASE 2
float q0r[6] = { 0, 0, 90, 0, 90, 0 };
float jTime = 5;
drfl.movej(q0r, 0, 0, jTime);
// Moves to the q0 joint angle with a reach time of 5 sec.

// CASE 3
float q0b[6] = { 0, 0, 90, 0, 90, 0 };
float q1b[6] = { 90, 0, 90, 0, 90, 0 };
float jVelb = 10;
float jAccb = 20;
float blending_radius = 50;
drfl.movej(q0b, jVelb, jAccb, 0, MOVE_MODE_ABSOLUTE, blending_radius);
// Moves to the q0 joint angle and is set to execute the next motion
// when the distance from the location that corresponds to the q0 joint angle is 50 mm.
drfl.movej(q1b, jVelb, jAccb, 0, MOVE_MODE_ABSOLUTE, 0, BLENDING_SPEED_TYPE_DUPLICATE);
// Blends with the last motion to move to the q1 joint angle.

This example shows time-based and speed/acceleration-based joint motions, and a two-segment sequence using blending radius and DUPLICATE blending to smoothly connect moves.