amovej (Auto Mode)

As an asynchronous movej, this function operates the same as the movej function except for not having the fBlendingRadius argument for blending. Due to its asynchronous nature, the command returns immediately after motion starts, allowing the next line of code to execute without waiting for the motion to complete.

Definition (Uniform Velocity/Acceleration)
DRFLEx.h within class CDRFLEx, public section (line 773)

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

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint location for six axes
fTargetVel	float		Velocity applied uniformly to all joints [deg/s]
fTargetAcc	float		Acceleration applied uniformly to all joints [deg/s²]
fTargetTime	float	0.f	Reach Time [sec]
eMoveMode	MOVE_MODE	`MOVE_MODE_ABSOLUTE`	Refer to the Definition of Enumeration Type
eBlendingType	BLENDING_SPEED_TYPE	`BLENDING_SPEED_TYPE_DUPLICATE`	Refer to the Definition of Enumeration Type

Definition (Per-Joint Velocity/Acceleration)
DRFLEx.h within class CDRFLEx, public section (line 774)

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

This overload allows specifying independent velocity and acceleration limits for each joint axis. It internally calls _amovej_ex instead of _amovej.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint location for six axes
fTargetVel	float[6]		Velocity limit for each joint axis [deg/s]
fTargetAcc	float[6]		Acceleration limit for each joint axis [deg/s²]
fTargetTime	float	0.f	Reach Time [sec]
eMoveMode	MOVE_MODE	`MOVE_MODE_ABSOLUTE`	Refer to the Definition of Enumeration Type
eBlendingType	BLENDING_SPEED_TYPE	`BLENDING_SPEED_TYPE_DUPLICATE`	Refer to the Definition of Enumeration Type

Note

When fTargetTime is specified, motion is processed based on fTargetTime while ignoring fTargetVel and fTargetAcc.
Refer to the motion description of movej for blending details according to eBlendingType and velocity/acceleration settings.

Return

Value	Description
0	Error
1	Success

Example (Uniform Velocity/Acceleration)

// Example: Asynchronous joint-space motion with uniform vel/acc.
#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    float q0[6] = { 0.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f };
    float q1[6] = { 90.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f };
    float q99[6] = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
    float jvel = 10.f;   // Joint velocity [deg/s]
    float jacc = 20.f;   // Joint acceleration [deg/s^2]

    // 1) Move to initial position synchronously
    drfl.movej(q0, jvel, jacc);

    // 2) Wait 3 seconds before next command
    Sleep(3000);

    // 3) Start asynchronous motion to q1 (no wait)
    drfl.amovej(q1, jvel, jacc);

    // 4) Wait for motion completion before next move
    drfl.mwait();

    // 5) Move to home position after synchronization
    drfl.movej(q99, jvel, jacc);

    return 0;
}

Example (Per-Joint Velocity/Acceleration)

// Example: Asynchronous joint-space motion with per-joint vel/acc.
#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    float q0[6] = { 0.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f };
    float q1[6] = { 90.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f };
    float q99[6] = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
    float jvel[6] = { 10.f, 10.f, 10.f, 10.f, 10.f, 10.f };   // Per-joint velocity [deg/s]
    float jacc[6] = { 20.f, 20.f, 20.f, 20.f, 20.f, 20.f };   // Per-joint acceleration [deg/s^2]

    // 1) Move to initial position synchronously
    drfl.movej(q0, jvel, jacc);

    // 2) Wait 3 seconds before next command
    Sleep(3000);

    // 3) Start asynchronous motion to q1 (no wait)
    drfl.amovej(q1, jvel, jacc);

    // 4) Wait for motion completion before next move
    drfl.mwait();

    // 5) Move to home position after synchronization
    drfl.movej(q99, jvel, jacc);

    return 0;
}

Both examples perform the same asynchronous joint-space motion sequence using amovej(), synchronized with mwait() before continuing. The per-joint overload allows specifying independent velocity and acceleration limits for each axis, which is useful when joints travel different angular distances.