Move L Command

Overview

Move L Command is the motion command that can help the robot to move along a straight line to the target position (pos) within the task space.

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/movel-13682514.html.

Parameter Name	Data Type	Default Value	Description
pos	posx	-	posx or position list
pos	list (float[6])	-	posx or position list
size (v)	float	None	velocity or velocity1, velocity2
size (v)	list (float[2])	None	velocity or velocity1, velocity2
acc (a)	float	None	acceleration or acceleration1, acceleration2
acc (a)	list (float[2])	None	acceleration or acceleration1, acceleration2
time (t)	float	None	Reach time [sec] When specifying time, vel and acc are ignored and processed as time.
radius (r)	float	None	blending시 radius
ref	int	None	reference coordinate DR_BASE: base coordinate DR_WORLD: world coordinate DR_TOOL: tool coordinate User coordinate: Custom
courage	int	DR_MV_MOD_ABS	Movement criteria DR_MV_MOD_ABS: Absolute DR_MV_MOD_REL: Relative
go out	int	DR_MV_RA_DUPLICATE	Reactive motion mode DR_MV_RA_DUPLICATE: duplicate DR_MV_RA_OVERRIDE: override
app_type	int	DR_MV_APP_NONE	Application Integration Options DR_MV_APP_NONE: No integration DR_MV_APP_WELD: Welding interlocking

Example

DRL Code

PY

P0 = posj(0,0,90,0,90,0)
movej(P0, v=30, a=30)
P1 = posx(400,500,800,0,180,0)
P2 = posx(400,500,500,0,180,0)
P3 = posx(30,30,30,0,0,0)
movel(P1, vel=30, acc=100)        
	# Moves to the P1 position with a velocity of 30(mm/sec) and acceleration of 100(mm/sec2).
movel(P2, time=5)                       
	# Moves to the P2 position with a reach time of 5 sec.
movel(P3, time=5, ref=DR_TOOL, mod=DR_MV_MOD_REL) 
	# Moves the robot from the start position to the relative position of P3 in the tool coordinate system
	# with a reach time of 5 sec.
movel(P2, time=5, r=10) 
	# Moves the robot to the P2 position with a reach time of 5 seconds, 
	# and the next motion is executed when the distance from the P2 position is 10mm.