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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

  • DR_MV_MOD_ABS : Absolute

  • DR_MV_MOD_REL : Relative

ra

int

DR_MV_RA_DUPLICATE

Reactive motion mode

  • DR_MV_RA_DUPLICATE: duplicate

  • DR_MV_RA_OVERRIDE: override

Example

DRL Code

PY
#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.
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