Move SJ Command
Overview
Move SJ Command is the motion command that can help the robot to move the robot along a curved line connecting multiple via points and target points expressed as a joint coordinate.
The input velocity/acceleration means the maximum velocity/acceleration in the path, and the acceleration and deceleration during the motion are determined according to the position of the waypoint.
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/movesj-13682536.html.
Parameter Name | Data Type | Default Value | Description |
pos_list | list (posj) | - | posj list |
size (v) | float | None | velocity (same for all axes) or Velocity |
list (float[6]) | |||
acc (a) | float | None | acceleration (same for all axes) or Acceleration |
list (float[6]) | |||
time (t) | float | None | Reach time [sec] |
courage | int | DR_MV_MOD_ABS | Movement criteria
|
Example
DRL Code
#CASE 1) Input the absolute angle (mod= DR_MV_MOD_ABS)
q0 = posj(0,0,0,0,0,0)
movej(q0, vel=30, acc=60) # Move the joint motion to the initial position (q0)
q1 = posj(10, -10, 20, -30, 10, 20) # define the posj variable (joint angle) q1
q2 = posj(25, 0, 10, -50, 20, 40)
q3 = posj(50, 50, 50, 50, 50, 50)
q4 = posj(30, 10, 30, -20, 10, 60)
q5 = posj(20, 20, 40, 20, 0, 90)
qlist = [q1, q2, q3, q4, q5] # Define a list (qlist) with q1~q5 as a set of waypoints
movesj(qlist, vel=30, acc=100)
# The maximum speed of the spline curve connecting the set of waypoints defined in qlist
# Moves at 30 (mm/sec) and maximum acceleration of 100 (mm/sec2)
#CASE 2) Relative angle input (mod= DR_MV_MOD_REL)
q0 = posj(0,0,0,0,0,0)
movej(q0, vel=30, acc=60) # Move the joint motion to the initial position (q0)
dq1 = posj(10, -10, 20, -30, 10, 20) # Define relative joint angle dq1 to q0 (q1=q0+dq1)
dq2 = posj(15, 10, -10, -20, 10, 20) # Define relative joint angle dq2 to q1 (q2=q1+dq2)
dq3 = posj(25, 50, 40, 100, 30, 10) # Define relative joint angle dq3 to q2 (q3=q2+dq3)
dq4 = posj(-20, -40, -20, -70, -40, 10) # Define relative joint angle dq4 to q3 (q4=q3+dq4)
dq5 = posj(-10, 10, 10, 40, -10, 30) # Define relative joint angle dq5 to q4 (q5=q4+dq5)
dqlist = [dq1, dq2, dq3, dq4, dq5]
# Define a list (dqlist) with dq1 to dq5 as a set of relative waypoints
movesj(dqlist, vel=30, acc=100, mod= DR_MV_MOD_REL )
# The maximum speed of the spline curve connecting the set of relative waypoints defined in dqlist
# Moves at 30 (mm/sec) and maximum acceleration of 100 (mm/sec2) (same motion as CASE-1)