amovesj (Auto Mode)

As an asynchronous movesj, it operates the same as movesj() except that it returns as soon as the motion starts, without waiting for the motion to terminate, and then executes the next line.
A new motion command issued before the amovesj() motion terminates causes an error for safety reasons. Therefore, the termination of the amovesj() motion must be confirmed using mwait() between amovesj() and the following motion command before the new motion command is executed.

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

bool amovesj(float fTargetPos[MAX_SPLINE_POINT][NUM_JOINT],
             unsigned char nPosCount,
             float fTargetVel,
             float fTargetAcc,
             float fTargetTime = 0.f,
             MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE) {
    return _amovesj(_rbtCtrl, fTargetPos, nPosCount, fTargetVel,
                    fTargetAcc, fTargetTime, eMoveMode);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[MAX_SPLINE_POINT][6]		Maximum 100 waypoint list
nPosCount	unsigned char		Number of valid waypoints. nPosCount must be 1 to 100.
fTargetVel	float		Maximum velocity applied uniformly to all joints [deg/s]
fTargetAcc	float		Maximum acceleration applied uniformly to all joints [deg/s2]
fTargetTime	float	0.0	Reach Time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Constant and Enumeration Type

---

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

bool amovesj(float fTargetPos[MAX_SPLINE_POINT][NUM_JOINT],
             unsigned char nPosCount,
             float fTargetVel[NUMBER_OF_JOINT],
             float fTargetAcc[NUMBER_OF_JOINT],
             float fTargetTime = 0.f,
             MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE) {
    return _amovesj_ex(_rbtCtrl, fTargetPos, nPosCount, fTargetVel,
                       fTargetAcc, fTargetTime, eMoveMode);
};

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

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[MAX_SPLINE_POINT][6]		Maximum 100 waypoint list
nPosCount	unsigned char		Number of valid waypoints. nPosCount must be 1 to 100.
fTargetVel	float[6]		Maximum velocity limit for each joint axis [deg/s]
fTargetAcc	float[6]		Maximum acceleration limit for each joint axis [deg/s2]
fTargetTime	float	0.0	Reach Time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Constant and Enumeration Type

Note

• When fTargetTime is specified, values are processed based on fTargetTime, ignoring fTargetVel and fTargetAcc.

• When eMoveMode is MOVE_MODE_RELATIVE, each pos in the position list is defined as a relative coordinate with respect to the preceding pos. (If position list = [q1, q2, …, q(n-1), q(n)], q1 is the relative angle from the start point, while q(n) is relative to q(n-1).)

• This function does not support online blending of previous and subsequent 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>

// D-Out 3 seconds after the spline motion through all points of jpos begins
float jpos[4][6];
float jvel = 10;
float jacc = 10;
unsigned char jposNum = 4;

jpos[0][0]=0;  jpos[0][1]=0;  jpos[0][2]=-30; jpos[0][3]=0;  jpos[0][4]=-30; jpos[0][5]=0;
jpos[1][0]=90; jpos[1][1]=0;  jpos[1][2]=0;   jpos[1][3]=0;  jpos[1][4]=0;   jpos[1][5]=0;
jpos[2][0]=0;  jpos[2][1]=0;  jpos[2][2]=-30; jpos[2][3]=0;  jpos[2][4]=-30; jpos[2][5]=0;
jpos[3][0]=0;  jpos[3][1]=0;  jpos[3][2]=0;   jpos[3][3]=0;  jpos[3][4]=0;   jpos[3][5]=0;

drfl.amovesj(jpos, jposNum, jvel, jacc);
std::this_thread::sleep_for(std::chrono::milliseconds(3000));
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, true);

This asynchronously executes a joint spline through four waypoints and toggles a digital output 3 seconds after start. Use mwait() before issuing the next motion to ensure the spline has finished.