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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

  • 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.

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