Move J Command
Overview
Move J Command is the motion command that can help the robot to move to the target joint position (pos
) from the current joint position.
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 parameters, please refer to the following online manual link: movej().
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
Q1 = posj(0,0,90,0,90,0)
Q2 = posj(0,0,0,0,90,0)
movej(Q1, vel=10, acc=20)
# Moves to the Q1 joint angle at the velocity of 10(deg/sec) and acceleration of 20(deg/sec2).
movej(Q2, time=5)
# Moves to the Q2 joint angle with a reach time of 5 sec.
movej(Q1, v=30, a=60, r=200)
# Moves to the Q1 joint angle and is set to execute the next motion
# when the distance from the Q1 space position is 200mm.
movej(Q2, v=30, a=60, ra= DR_MV_RA_OVERRIDE)
# Immediately terminates the last motion and blends it to move to the Q2 joint angle.
Block code
Step 1. Create
var.tsx
file for registering variable Path. If you already have one, you don’t need to create it.
Info
Refer to the link Variable List Panelto create var.tsx
file for registering Variable Path. If you already have one, you can skip it for now.
Step 2. Register Q1 and Q2 as following on the Variable List.
Code Line 1.
Q1 = posj(0,0,90,0,90,0)
Block Code
Enter the values in VARIABLE LIST window : Q1/ List/ [0,0,90,0,90,0]/ var.tsx
Click the
+ Add Variable
button.
Code Line 2.
Q2 = posj(0,0,0,0,90,0)
Block Code
Enter the values in VARIABLE LIST window : Q2/ List/ [0,0,0,0,90,0]/ var.tsx
Click the
+ Add Variable
button.
Step 3. Select MoveJ in the COMMAND LIST and drag and drop it into the TASK LIST screen.
Step 4. Enter the property values as below.
Property | Line 3.
| Line 5.
| Line 7.
| Line 10.
| |
---|---|---|---|---|---|
1 | pos | Q1 | Q2 | ||
2 | vel (v) | 10 | |||
3 | acc (a) | 20 | 60 | 60 | |
4 | time (t) | 5 | |||
5 | radius (r) | 200 | |||
6 | mod | ||||
7 | ra |
|
Info
Refer to this link Mode Selectionto understand more about DRL and Block Coding.