movesj_g (Auto Mode)

This function performs joint-space spline motion through multiple waypoints, executing smooth and continuous trajectories using spline interpolation. Each waypoint is automatically blended with the next for seamless movement.

This API operates only in Auto (Run) mode. It is not available in Manual (Teach) mode.

Definition
DRFLEx.h within class CDRFLEx, public section

bool movesj_g(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 _movesj_g(_rbtCtrl, fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime, eMoveMode);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[MAX_SPLINE_POINT][6]		List of waypoint poses in the BASE coordinate system [X, Y, Z in mm; Rx, Ry, Rz as fixed X-Y-Z angles in deg]. The function computes the joint position of each waypoint with inverse kinematics and writes it back into the array.
nPosCount	unsigned char		Number of valid waypoints (max = MAX_SPLINE_POINT).
fTargetVel	float		Target velocity for spline motion.
fTargetAcc	float		Target acceleration for spline motion.
fTargetTime	float	0.0f	Motion duration [sec].
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Defines whether movement is absolute or relative.

Caution

The function overwrites all six elements of each of the first nPosCount waypoints in fTargetPos with the joint position [deg] from inverse kinematics. Pass a fresh copy of the waypoints on every call; reusing the same array sends the joint values as poses on the next call.

Each joint position is the inverse-kinematics solution in solution space 2 (Lefty, Above, No Flip; see movejx) for the waypoint in the BASE coordinate system. For each waypoint, the call waits for this result from the controller and stores it in the data that the CDRFLEx object shares with get_current_posx, get_desired_posx, fkin, ikin, ikin_norm, trans, coord_transform, calc_coord, get_user_home, get_user_cart_coord and flange_serial_read, so a pointer returned earlier by one of them refers to overwritten data after movesj_g returns; copy the structure first. Do not call movesj_g inside a callback; see Rules for callback functions.

Return

Value	Description
0	Failed
1	Success

Example

// Waypoint poses in BASE [X, Y, Z in mm; Rx, Ry, Rz in deg]
const float waypoints[3][6] = {
    {400.f, 200.f, 300.f, 180.f, 0.f, 180.f},
    {450.f, 150.f, 300.f, 180.f, 0.f, 180.f},
    {500.f, 100.f, 300.f, 180.f, 0.f, 180.f}
};

// movesj_g overwrites its first argument, so pass a fresh copy on every call
float path[3][6];
for (int i = 0; i < 3; ++i)
    for (int j = 0; j < 6; ++j)
        path[i][j] = waypoints[i][j];

drfl.movesj_g(path, 3, 50.f, 100.f, 2.0f);

Note

• movesj_g provides smooth, multi-point joint interpolation using spline blending.

• Automatically adjusts blending based on velocity and acceleration limits.

• Ideal for path teaching, motion streaming, or multi-point sequence execution.

• Not linked with force/stiffness control or change_operation_speed().

• Ensure nPosCount ≤ MAX_SPLINE_POINT to avoid overflow.