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
pos	list (float[6])		posj or joint angle list
vel (v)	float	None	velocity (same to all axes) or velocity (to an axis)
vel (v)	list (float[6])	None	velocity (same to all axes) or velocity (to an axis)
acc (a)	float	None	acceleration (same to all axes) or acceleration (acceleration to an axis)
acc (a)	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

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. `movej(Q1, vel=10, acc=20)`	Line 5. `movej(Q2, time=5)`	Line 7. `movej(Q1, v=30, a=60, r=200)`	Line 10. `movej(Q2, v=30, a=60, ra= DR_MV_RA_OVERRIDE)`
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				`DR_MV_RA_OVERRIDE`

Info

Refer to this link Mode Selectionto understand more about DRL and Block Coding.