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

movel_h2r

This function moves the robot to a target position in task space (linear move). It is a hold-to-run version of the movel command. It initiates the motion, which must be sustained by periodically calling the hold2run command.

Definition
DRFLEx.h within class CDRFLEx

bool movel_h2r(float fTargetPos[NUM_TASK], float fTargetVel[2], float fTargetAcc[2], float fTargetTime = 0.f, MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE, MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE, float fBlendingRadius = 0.f, BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE)
{
  return _safe_movel_h2r(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime, eMoveMode, eMoveReference, fBlendingRadius, eBlendingType);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float [NUM_TASK]		Target task position (Unit: mm, deg)
fTargetVel	float [2]		Target velocity (Unit: mm/s, deg/s)
fTargetAcc	float [2]		Target acceleration (Unit: mm/s², deg/s²)
fTargetTime	float	0.f	Target arrival time (Unit: sec)
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Motion mode
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	Motion reference
fBlendingRadius	float	0.f	Blending radius (Unit: mm)
eBlendingType	BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	Blending speed type

Return

Value	Type	Description
True	bool	Success
False	bool	Fail

Note

Returns false while a DRL program is running or paused.

Example

float target_pos[6] = {500, 100, 500, 0, 180, 0};
float target_vel[2] = {100.0, 20.0};
float target_acc[2] = {200.0, 40.0};

drfl.movel_h2r(target_pos, target_vel, target_acc); // Initiate hold2run motion
bool target_reached = false; // set by your own position check
while (!target_reached) {
     drfl.hold2run();
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
    // Additional processing can be done here
}