multi_jog (Manual Mode)

This function performs simultaneous jog control for multiple task axes (X, Y, Z, Rx, Ry, Rz) of the robot in the controller. Unlike jog, which moves a single axis at a time, multi_jog allows coordinated manual motion by assigning velocity values for all six axes.

Definition
DRFLEx.h within class CDRFLEx, public section (line 758)

bool multi_jog(float fTargetPos[NUM_TASK], MOVE_REFERENCE eMoveReference, float fVelocity) {
    return _multi_jog(_rbtCtrl, fTargetPos, eMoveReference, fVelocity);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[NUM_TASK]		Velocity command array for each task axis. The array elements correspond to [X, Y, Z, Rx, Ry, Rz]. Positive and negative values indicate direction and magnitude (% of rated speed).
eMoveReference	MOVE_REFERENCE		Coordinate system reference. Can be COORDINATE_SYSTEM_BASE, COORDINATE_SYSTEM_TOOL, or COORDINATE_SYSTEM_WORLD.
fVelocity	float		Overall scaling factor for the combined jog velocity. Used to limit or amplify the motion speed across all axes.

Return

Value	Description
0	Error
1	Success

Example

#include "DRFLEx.h"
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // (Assume connection, mode, and servo activation are completed)

    // Scenario: Simultaneously move along +X and +Y to approach a target diagonally,
    // then tilt the tool slightly in Rx, and finally retreat in the opposite direction.

    // 1) Diagonal jog (+X, +Y) at 15% speed in BASE frame
    float vel1[6] = {15.0f, 15.0f, 0.0f, 0.0f, 0.0f, 0.0f};
    drfl.multi_jog(vel1, MOVE_REFERENCE_BASE, 1.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(800));
    drfl.multi_jog(vel1, MOVE_REFERENCE_BASE, 0.0f); // stop jogging

    // 2) Small tool rotation in +Rx (5%) and -Ry (5%) for alignment
    float vel2[6] = {0.0f, 0.0f, 0.0f, 5.0f, -5.0f, 0.0f};
    drfl.multi_jog(vel2, MOVE_REFERENCE_TOOL, 1.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(600));
    drfl.multi_jog(vel2, MOVE_REFERENCE_TOOL, 0.0f); // stop rotation

    // 3) Retreat diagonally (-X, -Y) for safety
    float vel3[6] = {-10.0f, -10.0f, 0.0f, 0.0f, 0.0f, 0.0f};
    drfl.multi_jog(vel3, MOVE_REFERENCE_BASE, 1.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(500));
    drfl.multi_jog(vel3, MOVE_REFERENCE_BASE, 0.0f);

    return 0;
}

This example shows a diagonal and multi-axis teaching operation: the robot first jogs diagonally in the BASE frame, performs a small rotational correction in the TOOL frame, and finally executes a safe retreat motion. Each motion is maintained for a short duration and then halted by setting all target velocities to 0.