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amove_periodic (Auto Mode)

As an asynchronous move_periodic(), this function operates the same way as move_periodic() except that it executes the next line immediately after the motion starts, without waiting for termination. A new motion command generated before the previous one ends must be separated by mwait() for safety.

This command performs a cyclic motion based on the sine function of each axis (translation or rotation) in the specified reference coordinate system (eMoveReference). The attributes of the motion (amplitude, period, acceleration/deceleration time, and total repetitions) are defined by the respective input parameters.

Definition
DRFLEx.h within class CDRFLEx, public section

bool amove_periodic(float fAmplitude[NUM_TASK],
                    float fPeriodic[NUM_TASK],
                    float fAccelTime,
                    unsigned int nRepeat,
                    MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_TOOL) {
    return _amove_periodic(_rbtCtrl, fAmplitude, fPeriodic, fAccelTime, nRepeat, eMoveReference);
};

Parameter

Parameter Name	Data Type	Default Value	Range	Description
fAmplitude	float[6]		≥ 0	Amplitude (motion between -fAmplitude and +fAmplitude) [mm] or [deg]
fPeriodic	float[6]		≥ 0	Period (time for one cycle) [sec]
fAccelTime	float		≥ 0	Acceleration/Deceleration time [sec]
nRepeat	unsigned char		> 0	Repetition count
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_TOOL		Refer to the Definition of Enumeration Type

Note

• fAmplitude defines the amplitude for each axis (x, y, z, rx, ry, rz). Axes with no periodic motion must have an amplitude of 0.

• fPeriodic defines the time to complete one full motion cycle for each axis. Each value corresponds to the same order as the axes (x, y, z, rx, ry, rz).

• fAccelTime specifies the acceleration/deceleration time at both the beginning and end of the periodic motion. The applied value is the larger of fAccelTime and 1/4 of the longest period among the axes with a non-zero amplitude. If fAccelTime is 1/2 or more of nRepeat times the longest period in fPeriodic, the controller reports an error.

• nRepeat determines how many full cycles are repeated. The axis with the largest period determines total motion time.

• If the motion ends normally, the remaining axes may stop before the reference axis terminates so that the robot returns to the start position. Otherwise, the deceleration path may deviate slightly.

• eMoveReference specifies whether the periodic motion is executed in TOOL or BASE coordinates.

• To adjust excessive velocity, use: velocity = Amplitude(fAmplitude) * 2 * π(3.14) / Period(fPeriodic)
  e.g., Max velocity = 62.83 mm/s if amp=10 mm, period=1 s

• This function does not support online blending between previous and next motions.

Return

Value	Description
0	Error
1	Success

Note

Returns false without a message when the robot is in STATE_EMERGENCY_STOP, STATE_SAFE_OFF, STATE_SAFE_OFF2, STATE_SAFE_STOP or STATE_SAFE_STOP2.

Example

#include <thread>
#include <chrono>

// Repeats the X-axis (10 mm amplitude, 1 sec period) motion and
// Y-axis rotation (0.5 deg amplitude, 1 sec period), repeated 5 times.
// Sets the Digital Output channel 1 after 1 second.
float fAmplitude[NUM_TASK] = {10, 0, 0, 0, 0.5, 0};
float fPeriod[NUM_TASK] = {1, 1, 1, 1, 1, 1};
drfl.amove_periodic(fAmplitude, fPeriod, 0.5, 5, MOVE_REFERENCE_TOOL);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, true);
drfl.mwait();

This example generates a sinusoidal periodic motion on X and rotation-Y axes within the TOOL coordinate frame. After 1 second, Digital Output 1 is triggered while the robot continues its periodic trajectory.