movesx_g (Auto Mode)

This function executes Cartesian spline motion through multiple TCP waypoints, enabling smooth and continuous trajectory generation in Cartesian space.

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 movesx_g(float fTargetPos[MAX_SPLINE_POINT][NUM_TASK],
              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,
              SPLINE_VELOCITY_OPTION eVelOpt = SPLINE_VELOCITY_OPTION_DEFAULT)
{
    return _movesx_g(_rbtCtrl, fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime, eMoveMode, eMoveReference, eVelOpt);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[MAX_SPLINE_POINT][6]		List of Cartesian waypoints [X, Y, Z, Rx, Ry, Rz]. Rx, Ry, Rz are fixed X-Y-Z angles in deg.
nPosCount	unsigned char		Number of waypoints (max = MAX_SPLINE_POINT).
fTargetVel	float[2]		Translational and rotational velocity limits.
fTargetAcc	float[2]		Translational and rotational acceleration limits.
fTargetTime	float	0.0f	Total spline motion duration [sec].
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Defines movement mode (absolute/relative).
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	Reference coordinate system.
eVelOpt	SPLINE_VELOCITY_OPTION	SPLINE_VELOCITY_OPTION_DEFAULT	Defines velocity blending strategy for spline motion.

Caution

The function converts Rx, Ry, Rz of each of the first nPosCount waypoints to ZYZ Euler angles and writes them back into fTargetPos[i][3] to fTargetPos[i][5]. Pass a fresh copy of the waypoints on every call; reusing the same array converts the angles again.

Return

Value	Description
0	Failed
1	Success

Example

// Define Cartesian spline path
float path[3][6] = {
    {400.f, 100.f, 200.f, 180.f, 0.f, 0.f},
    {420.f, 120.f, 180.f, 180.f, 10.f, 0.f},
    {440.f, 140.f, 160.f, 180.f, 20.f, 0.f}
};

float vel[2] = {200.f, 100.f};
float acc[2] = {300.f, 150.f};

drfl.movesx_g(path, 3, vel, acc, 2.5f);

Note

• movesx_g generates smooth TCP trajectories via spline blending between waypoints.

• Supports flexible control via velocity, acceleration, and reference frame settings.

• Automatically adjusts blending when physical limits are reached.

• Use for precision path execution, contour following, or surface scanning tasks.

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