amovel (Auto Mode)

As an asynchronous movel, it operates the same as the movel function except that it has no fBlendingRadius argument for blending. Because it is asynchronous, the command returns immediately when motion starts and executes the next line without waiting for the motion to terminate.

Definition
DRFLEx.h within class CDRFLEx, public section

bool amovel(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,
            BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE,
            DR_MV_APP eAppType = DR_MV_APP_NONE) {
    return _amovel(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc,
                   fTargetTime, eMoveMode, eMoveReference, eBlendingType, eAppType);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target TCP Position for six axes [mm, deg]
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] * If the time is specified, values are processed based on time, ignoring vel and acc.
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
eBlendingType	BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	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.

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 2 seconds after the motion starts with x1
float x1[6]  = { 559, 434.5, 651.5, 0, 180, 0 };
float tvel[2] = { 50, 50 };
float tacc[2] = { 100, 100 };
drfl.amovel(x1, tvel, tacc);
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, true);

This example starts an asynchronous linear TCP motion to pose x1, then toggles a digital output 2 seconds after motion start. Because it is asynchronous, program flow continues immediately after amovel() is issued.