move_spiral (Auto Mode)

This function executes a spiral trajectory motion in which the robot’s radius gradually increases in the radial direction while moving in parallel with a rotating spiral along the axial direction. The path is formed on a plane perpendicular to the selected axis (eTaskAxis) and the spiral expands outward until it reaches the specified maximum radius and length.

Definition (Maximum Radius / Length)
DRFLEx.h within class CDRFLEx, public section (line 803)

bool move_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 _move_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 rotation plane for the spiral path)
fRevolution	float		Total number of spiral revolutions [rev > 0]
fMaximuRadius	float		Final spiral radius [mm]
fMaximumLength	float		Linear distance moved along the spiral axis [mm] (negative value = reverse direction)
fTargetVel	float[2]		Linear and angular velocity [mm/s, deg/s]
fTargetAcc	float[2]		Linear and angular acceleration [mm/s2, deg/s2]
fTargetTime	float	0.0	Total execution time [sec]
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL	Coordinate reference frame for spiral motion (BASE / TOOL)

---

Definition (Target Position)
DRFLEx.h within class CDRFLEx, public section (line 804)

bool move_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 _move_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 _move_spiral_ex instead of _move_spiral.

Parameter

Parameter Name	Data Type	Default Value	Description
eTaskAxis	TASK_AXIS		Axis perpendicular to the spiral surface (defines rotation plane for the spiral path)
fRevolution	float		Total number of spiral revolutions [rev > 0]
fTargetPos	float[3]		Target point as X, Y, Z coordinates [mm] (replaces fMaximuRadius / fMaximumLength)
fTargetVel	float[2]		Linear and angular velocity [mm/s, deg/s]
fTargetAcc	float[2]		Linear and angular acceleration [mm/s2, deg/s2]
fTargetTime	float	0.0	Total execution time [sec]
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL	Coordinate reference frame for 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 sets the number of rotations in the spiral trajectory.

• fMaximuRadius defines the final radius of the spiral.

• fMaximumLength specifies the distance traveled along the spiral axis, with negative values moving in the opposite axial direction.

• fTargetVel and fTargetAcc control the linear and angular speed profiles.

• When fTargetTime is provided, motion is timed and velocity/acceleration are ignored.

• eTaskAxis selects which plane the spiral lies on (e.g., TASK_AXIS_Z for XY-plane spirals).

• eMoveReference defines the reference frame (BASE or TOOL).

• This function does not support online blending with other motion commands.

Caution

• If the rotating acceleration generated by the spiral exceeds a safe limit, the system may trigger an error for protection. Reduce fTargetVel, fTargetAcc, or fTargetTime accordingly.

Return

Value	Description
0	Error
1	Success

Example

// Perform a spiral motion along the TOOL-Z axis
float rev = 3;       // 3 full rotations
float rmax = 30;     // Maximum radius: 30 mm
float lmax = 50;     // Moves 50 mm in Z-axis direction
float tvel[2] = {50, 50};    // Linear/Angular velocity
float tacc[2] = {100, 100};  // Linear/Angular acceleration

drfl.move_spiral(TASK_AXIS_Z, rev, rmax, lmax, tvel, tacc);
// Moves the robot in a spiral expanding outward (radius 30 mm)
// while ascending 50 mm along the Z-axis over 3 turns.

This command is commonly used for polishing, surface scanning, or coating applications where a smooth helical trajectory with radial expansion is required.