Move C Command
Overview
Move C Command is the motion command that can help the robot to move the robot along an arc composed of a current point, transit point, and target point.
Property
Annotation
You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate with many DRL Components.
Parameters
In Parameter Panel, it will help you create or select your variable to define the parameter of the chosen command.
For detailed DRL description other than parameter, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/movec-13682529.html.
Parameter Name | Data Type | Default Value | Description |
pos | posj |
| posj or joint angle list |
list (float[6]) | |||
vel (v) | float | None | velocity (same to all axes) or velocity (to an axis)
|
list (float[6]) | None | ||
acc (a) | float | None | acceleration (same to all axes) or acceleration (acceleration to an axis)
|
list (float[6]) | None | ||
time (t) | float | None | Reach time [sec] |
radius (r) | float | None | Radius for blending |
mod | int | DR_MV_MOD_ABS | Movement basis
|
ra | int | DR_MV_RA_DUPLICATE | Reactive motion mode
|
Example
DRL Code
#1
P0 = posj(0,0,90,0,90,0)
movej(P0)
set_velx(30,20) # Set the global task velocity to 30(mm/sec) and 20(deg/sec).
set_accx(60,40) # Set the global task acceleration to 60(mm/sec2) and 40(deg/sec2).
P1 = posx(400,500,800,0,180,0)
P2 = posx(400,500,500,0,180,0)
P3 = posx(100, 300, 700, 45, 0, 0)
P4 = posx(500, 400, 800, 45, 45, 0)
movec(P1, P2, vel=30)
# Moves to P2 with a velocity of 30(mm/sec) and global acceleration of 60(mm/sec2)
# via P1 along the arc trajectory.
movej(P0)
movec(P3, P4, vel=30, acc=60)
# Moves to P4 with a velocity of 30(mm/sec) and acceleration of 60(mm/sec2).
# via P3 along the arc trajectory
movej(P0).
movec(P2, P1, time=5)
# Moves with a global velocity of 30(mm/sec) and acceleration of 60(mm/sec2).
# to P1 along the arc trajectory via P2 at the 5-second point.
movec(P3, P4, time=3, radius=100)
# Moves along the arc trajectory to P4 via P3 with a reach time of 3 seconds
# and then executes the next motion at a distance of 100mm from the P4 position.
movec(P2, P1, ra=DR_MV_RA_OVERRIDE)
# Immediately terminates the last motion and blends it to move to the P1 position.