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For information on the latest version, please have a look at 1.33.5.

move_spiral (Auto Mode)

This function moves the robot along a spiral in the plane perpendicular to the selected axis (eTaskAxis) while it also travels along that axis. The spiral starts at the current position and expands outward until it reaches the maximum radius and the axial length.

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

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

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 or fTargetAcc, or increase fTargetTime, accordingly.

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

// 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.