movej_h2r

This function moves the robot to a target position in joint space. It is a hold-to-run version of the movej command. It initiates the motion, which must be sustained by periodically calling the hold2run command.

Definition
DRFLEx.h within class CDRFLEx

bool movej_h2r(float fTargetPos[NUM_JOINT], float fTargetVel[NUM_JOINT], float fTargetAcc[NUM_JOINT], float fTargetTime = 0.f, MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE, float fBlendingRadius = 0.f, BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE)
{
  return _safe_movej_h2r(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime, eMoveMode, fBlendingRadius, eBlendingType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float [NUM_JOINT]		Target joint angle (Unit: deg)
fTargetVel	float [NUM_JOINT]		Target joint velocity (Unit: deg/s)
fTargetAcc	float [NUM_JOINT]		Target joint acceleration (Unit: deg/s²)
fTargetTime	float		Target arrival time (Unit: sec)
eMoveMode	MOVE_MODE		Motion mode
fBlendingRadius	float		Blending radius (Unit: mm)
eBlendingType	BLENDING_SPEED_TYPE		Blending speed type

Return

Value	Type	Description
True	bool	Success
False	bool	Fail

Example

CDRFLEx drfl;
float target_pos[6] = {0, 0, 90, 0, 90, 0};
float target_vel[6] = {30.0, 30.0, 30.0, 30.0, 30.0, 30.0};
float target_acc[6] = {60.0, 60.0, 60.0, 60.0, 60.0, 60.0};

drfl.movej_h2r(target_pos, target_vel, target_acc); // Initiate hold2run motion
while (!drfl.get_current_pos() == target_pos) {
     drfl._hold2run();
     time.sleep(0.1);
    // Additional processing can be done here
}