movesj_g (Auto Mode)

This function performs joint-space spline motion through multiple waypoints, executing smooth and continuous trajectories using spline interpolation. Each waypoint is automatically blended with the next for seamless movement.

Also, this API operates only in Auto (Run) mode. It is not available in Manual (Teach) mode.

Definition
DRFLEx.h within class CDRFLEx, public section (line 822)

bool movesj_g(float fTargetPos[MAX_SPLINE_POINT][NUM_JOINT],
              unsigned char nPosCount,
              float fTargetVel,
              float fTargetAcc,
              float fTargetTime = 0.f,
              MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE)
{
    return _movesj_g(_rbtCtrl, fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime, eMoveMode);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[MAX_SPLINE_POINT][6]		List of joint waypoints to follow.
nPosCount	unsigned char		Number of valid waypoints (max = MAX_SPLINE_POINT).
fTargetVel	float		Target velocity for spline motion.
fTargetAcc	float		Target acceleration for spline motion.
fTargetTime	float	0.0f	Motion duration [sec].
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Defines whether movement is absolute or relative.

Return

Value	Description
0	Failed
1	Success

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Define spline waypoints in joint space
    float path[3][6] = {
        {0.f, -30.f, 90.f, 0.f, 60.f, 0.f},
        {10.f, -25.f, 85.f, 5.f, 65.f, 5.f},
        {20.f, -20.f, 80.f, 10.f, 70.f, 10.f}
    };

    drfl.movesj_g(path, 3, 50.f, 100.f, 2.0f);

    return 0;
}

Note

• movesj_g provides smooth, multi-point joint interpolation using spline blending.

• Automatically adjusts blending based on velocity and acceleration limits.

• Ideal for path teaching, motion streaming, or multi-point sequence execution.

• Not linked with force/stiffness control or change_operation_speed().

• Ensure nPosCount ≤ MAX_SPLINE_POINT to avoid overflow.