amove_spiral (Auto Mode)

As an asynchronous version of move_spiral, this function initiates the spiral motion and immediately returns without waiting for completion. It allows other program lines to execute while the spiral motion continues in the background. Since a new motion command issued before amove_spiral() terminates may cause an error, it is recommended to use mwait() between motions for safe sequencing.

Definition (Maximum Radius / Length)
DRFLEx.h within class CDRFLEx, public section (line 805)

bool amove_spiral(TASK_AXIS eTaskAxis,
                  float fRevolution,
                  float fMaximuRadius,
                  float fMaximumLength,
                  float fTargetVel[2],
                  float fTargetAcc[2],
                  float fTargetTime = 0.f,
                  MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_TOOL) {
    return _amove_spiral(_rbtCtrl, eTaskAxis, fRevolution, fMaximuRadius,
                         fMaximumLength, fTargetVel, fTargetAcc,
                         fTargetTime, eMoveReference);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eTaskAxis	TASK_AXIS		Axis perpendicular to the spiral surface (defines the rotation plane of the spiral)
fRevolution	float		Total number of spiral turns [revolutions]
fMaximuRadius	float		Final spiral radius [mm]
fMaximumLength	float		Distance moved along the axis direction [mm] (negative = opposite direction)
fTargetVel	float[2]		Linear velocity and angular velocity [mm/s, deg/s]
fTargetAcc	float[2]		Linear acceleration and angular acceleration [mm/s2, deg/s2]
fTargetTime	float	0.0	Total motion execution time [sec]
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL	Coordinate frame reference for the spiral motion (BASE / TOOL)

---

Definition (Target Position)
DRFLEx.h within class CDRFLEx, public section (line 806)

bool amove_spiral(TASK_AXIS eTaskAxis,
                  float fRevolution,
                  float fTargetPos[3],
                  float fTargetVel[2],
                  float fTargetAcc[2],
                  float fTargetTime = 0.f,
                  MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_TOOL,
                  MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
                  SPIRAL_DIR eSpiralDir = DR_SPIRAL_OUTWARD,
                  ROT_DIR eRotDir = DR_ROT_FORWARD) {
    return _amove_spiral_ex(_rbtCtrl, eTaskAxis, fRevolution, fTargetPos,
                            fTargetVel, fTargetAcc, fTargetTime, eMoveReference,
                            eMoveMode, eSpiralDir, eRotDir);
};

This overload defines the spiral endpoint using X, Y, Z coordinates instead of maximum radius and length. It also adds control over spiral direction, rotation direction, and move mode (absolute/relative). It internally calls _amove_spiral_ex instead of _amove_spiral.

Parameter

Parameter Name	Data Type	Default Value	Description
eTaskAxis	TASK_AXIS		Axis perpendicular to the spiral surface (defines the rotation plane of the spiral)
fRevolution	float		Total number of spiral turns [revolutions]
fTargetPos	float[3]		Target point as X, Y, Z coordinates [mm] (replaces fMaximuRadius / fMaximumLength)
fTargetVel	float[2]		Linear velocity and angular velocity [mm/s, deg/s]
fTargetAcc	float[2]		Linear acceleration and angular acceleration [mm/s2, deg/s2]
fTargetTime	float	0.0	Total motion execution time [sec]
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL	Coordinate frame reference for the spiral motion (BASE / TOOL)
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Movement basis (absolute or relative)
eSpiralDir	SPIRAL_DIR	DR_SPIRAL_OUTWARD	Radial direction of the spiral DR_SPIRAL_OUTWARD: expand outward from center DR_SPIRAL_INWARD: contract inward toward target
eRotDir	ROT_DIR	DR_ROT_FORWARD	Rotation direction along the axis DR_ROT_FORWARD: forward rotation (+) DR_ROT_REVERSE: reverse rotation (-)

Note

• fRevolution defines the number of turns for the spiral path.

• fMaximuRadius specifies the outermost radius reached during motion.

• fMaximumLength represents the travel distance along the spiral axis.

• fTargetVel and fTargetAcc define the linear/angular motion profile.

• When fTargetTime is set, the spiral follows time-based control, ignoring both fTargetVel and fTargetAcc.

• eTaskAxis determines which plane the spiral expands in (e.g., XY for Z-axis selection).

• eMoveReference determines whether motion is relative to the BASE or TOOL frame.

• The motion termination must be confirmed using mwait() before executing the next command.

• Online blending with other motions is not supported.

Caution

• If the spiral’s computed angular acceleration exceeds the safe threshold, a safety error will be triggered. To prevent this, reduce fTargetVel, fTargetAcc, or fTargetTime.

Return

Value	Description
0	Error
1	Success

Example

// Trigger D-Out signal 3 seconds after the spiral motion begins
float rev = 3;      // Revolutions
float rmax = 30;    // Maximum radius [mm]
float lmax = 50;    // Length along Z-axis [mm]
float tvel[2] = {50, 50};
float tacc[2] = {100, 100};

drfl.amove_spiral(TASK_AXIS_Z, rev, rmax, lmax, tvel, tacc);
Sleep(3000);
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, 1);

This example performs an asynchronous spiral motion along the Z-axis (in TOOL frame), gradually expanding the spiral radius up to 30 mm while ascending 50 mm. The digital output activates 3 seconds after the motion starts, and subsequent commands should wait for completion using mwait().