amoveb (Auto Mode)

As an asynchronous moveb, this function operates the same as the moveb function except for the asynchronous process, and executes the next line immediately after motion starts without waiting for its termination.

A new motion command issued before the amoveb() motion ends causes an error. Confirm that amoveb() has finished with mwait() or check_motion() before you issue the next motion command.

Definition
DRFLEx.h within class CDRFLEx, public section

bool amoveb(MOVE_POSB tTargetPos[MAX_MOVEB_POINT],
            unsigned char nPosCount,
            float fTargetVel[2],
            float fTargetAcc[2],
            float fTargetTime = 0.f,
            MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
            MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE,
            DR_MV_APP eAppType = DR_MV_APP_NONE) {
    return _amoveb(_rbtCtrl, tTargetPos, nPosCount, fTargetVel, fTargetAcc,
                   fTargetTime, eMoveMode, eMoveReference, eAppType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
tTargetPos	MOVE_POSB [MAX_MOVEB_POINT]		Path information
nPosCount	unsigned char		Number of valid paths. nPosCount must be 1 to 50.
fTargetVel	float[2]		Linear Velocity, Angular Velocity [mm/s, deg/s]
fTargetAcc	float[2]		Linear Acceleration, Angular Acceleration [mm/s2, deg/s2]
fTargetTime	float	0.f	Reach Time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Enumeration Type
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	Refer to the Definition of Enumeration Type
eAppType	DR_MV_APP	DR_MV_APP_NONE	Refer to the Definition of Enumeration Type. Accepted but not sent to the controller.

Note

• When fTargetTime is specified, motion is processed based on fTargetTime while ignoring fTargetVel.

• When eMoveMode is MOVE_MODE_RELATIVE, each position in tTargetPos is defined as a relative coordinate with respect to the preceding path.

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

Caution

• A user input error occurs if the blending radius in tTargetPos is 0.

• A user input error occurs when duplicated Line segments are defined in the same direction.

• If blending conditions cause rapid directional change, a user input error is generated to prevent sudden acceleration.

• 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

// Example: Execute an asynchronous multi-segment motion with blending.
// Digital output 1 turns ON 3 seconds after motion starts.
MOVE_POSB xb[4];
memset(xb, 0, sizeof(xb));
unsigned char seqNum = 4;
float tVel[2] = { 50, 50 };   // Linear / Angular Velocity
float tAcc[2] = { 100, 100 }; // Linear / Angular Acceleration

xb[0]._iBlendType = 0;  // Line
xb[0]._fBlendRad = 50;
xb[0]._fTargetPos[0][0] = 559;
xb[0]._fTargetPos[0][1] = 234.5;
xb[0]._fTargetPos[0][2] = 651.5;
xb[0]._fTargetPos[0][3] = 0;
xb[0]._fTargetPos[0][4] = 180;
xb[0]._fTargetPos[0][5] = 0;

xb[1]._iBlendType = 1;  // Circle
xb[1]._fBlendRad = 50;
xb[1]._fTargetPos[0][0] = 559;   // via point
xb[1]._fTargetPos[0][1] = 134.5;
xb[1]._fTargetPos[0][2] = 551.5;
xb[1]._fTargetPos[0][3] = 0;
xb[1]._fTargetPos[0][4] = 180;
xb[1]._fTargetPos[0][5] = 0;
xb[1]._fTargetPos[1][0] = 559;   // end point
xb[1]._fTargetPos[1][1] = 234.5;
xb[1]._fTargetPos[1][2] = 451.5;
xb[1]._fTargetPos[1][3] = 0;
xb[1]._fTargetPos[1][4] = 180;
xb[1]._fTargetPos[1][5] = 0;

xb[2]._iBlendType = 0;  // Line
xb[2]._fBlendRad = 50;
xb[2]._fTargetPos[0][0] = 559;
xb[2]._fTargetPos[0][1] = 434.5;
xb[2]._fTargetPos[0][2] = 451.5;
xb[2]._fTargetPos[0][3] = 0;
xb[2]._fTargetPos[0][4] = 180;
xb[2]._fTargetPos[0][5] = 0;

xb[3]._iBlendType = 0;  // Line
xb[3]._fBlendRad = 50;
xb[3]._fTargetPos[0][0] = 559;
xb[3]._fTargetPos[0][1] = 234.5;
xb[3]._fTargetPos[0][2] = 251.5;
xb[3]._fTargetPos[0][3] = 0;
xb[3]._fTargetPos[0][4] = 180;
xb[3]._fTargetPos[0][5] = 0;

// Execute asynchronous motion
drfl.amoveb(xb, seqNum, tVel, tAcc);

// Trigger output after 3 seconds
std::this_thread::sleep_for(std::chrono::seconds(3));
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, true);

This example performs an asynchronous blended multi-segment motion composed of lines and circular paths. After motion begins, digital output 1 is turned on after 3 seconds while the robot continues its movement.