Breadcrumbs

amovesj()

Features

The asynchronous movesj motion operates in the same way as movesj() except for the asynchronous processing.

Generating a new command for the motion before the amovesj() motion results in an error for safety reasons. Therefore, the termination of the amovesj() motion must be confirmed using mwait() or check_motion() between amovesj() and the following motion command.

  • movesj(pos_list): The next command is executed after the robot starts from the current position and reaches (stops at) the end point of pos_list.

  • amovesj(pos_list): The next command is executed regardless of whether the robot starts from the current position and reaches (stops at) the end point of pos_list.

Parameters

Parameter Name

Data Type

Default Value

Description

pos_list

list (posj)

-

posj list

vel (v)

float

None

velocity (same to all axes) or

velocity (to an axis)

list (float[6])

acc (a)

float

None

acceleration (same to all axes) or

acceleration (acceleration to an axis)

list (float[6])

time (t)

float

None

Reach time [sec]

mod

int

DR_MV_MOD_ABS

Movement basis

  • DR_MV_MOD_ABS: Absolute

  • DR_MV_MOD_REL: Relative


  • Abbreviated parameter names are supported. (v:vel, a:acc, t:time)

  • _global_velj is applied if vel is None. (The initial value of _global_velj is 0.0 and can be set by set_velj.)

  • _global_accj is applied if acc is None. (The initial value of _global_accj is 0.0 and can be set by set_accj.)

  • If the time is specified, values are processed based on time, ignoring vel and acc.

  • If the time is None, it is set to 0.

  • If the mod is DR_MV_MOD_REL, each pos in the pos_list is defined in the relative coordinate of the previous pos. (If pos_list=[q1, q2, ...,q(n-1), q(n)], q1 is the relative angle of the starting point while q(n) is the relative coordinate of q(n-1).)

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

Return

Value

Description

0

Success

Negative value

Error

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data type error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
#Example 1. D-Out 3 seconds after the spline motion through q1 - q5 begins
q0 = posj(0,0,0,0,0,0)
movej(q0, vel=30, acc=60)   # Moves in joint motion to the initial position (q0).
q1 = posj(10, -10, 20, -30, 10, 20)      # Defines the posj variable (joint angle) q1.
q2 = posj(25, 0, 10, -50, 20, 40) 
q3 = posj(50, 50, 50, 50, 50, 50) 
q4 = posj(30, 10, 30, -20, 10, 60)
q5 = posj(20, 20, 40, 20, 0, 90)

qlist = [q1, q2, q3, q4, q5]            
	# Defines the list (qlist) which is a set of waypoints q1-q5.

amovesj(qlist, vel=30, acc=100)   
	# Moves the spline curve that connects the waypoints defined in the qlist.
	# with a maximum velocity of 30(mm/sec) and maximum acceleration of 100(mm/sec2). 
	# Executes the next command.
wait(3)                                  # Temporarily suspends the program execution for 3 seconds (while the motion continues).
set_digital_output(1, 1)                 # D-Out (no. 1 channel) ON
mwait(0)                                 # Temporarily suspends the program execution until the motion is terminated.

Related commands