Move Spiral Command

Overview

Move Spiral Command is the motion command that can help the robot to move the robot along a path extending to the outer side from the center of a spiral.

Motion along a spiral trajectory on a plane which is perpendicular to the input 'axis' is performed on the specified coordinate system ref. Additional input, travel distance lmaxcan cause the robot to move around a cone, starting from the apex of it.

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/move_spiral-13682549.html.

Parameter Name	Data Type	Default Value	Scope	Description
rev	float	10	rev > 0	Total revolutions [revolution]
rmax	float	10	rmax > 0	Spiral final radius [mm]
lmax	float	0		Distance traveled in axis direction [mm]
size (v)	float	None		velocity
acc (a)	float	None		acceleration
time (t)	float	None	time ≥ 0	Total execution time<sec>
axis	int	DR_AXIS_Z	-	axis DR_AXIS_X: x-axis DR_AXIS_Y: Y axis DR_AXIS_Z: z-axis
ref	Int	DR_TOOL	-	reference coordinate DR_BASE : base coordinate DR_WORLD : world coordinate DR_TOOL : tool coordinate User Coordinate : Customized

Example

DRL Code

PY

# hole search 
# (A motion that completes 9.5 revolutions (rev) to the 50 mm radius (rmax) from 0 on the Tool-X/Y surface as the center of the rotation in the Tool-Z direction and the spiral trajectory that moves 50 mm (lmax) in the Tool-Z direction at the same time in 10 seconds from the initial position)

J00 = posj(0,0,90,0,60,0) 
movej(J00,vel=30,acc=30)           # Joint movement to the initial pose
move_spiral(rev=9.5,rmax=20.0,lmax=50.0,time=20.0,axis=DR_AXIS_Z,ref=DR_TOOL)