Approaching a relative Cartesian position as quickly as possible

Description

The function block KRC_MoveDirectRelative executes a point-to-point motion to a relative Cartesian end position. The parameter “Position” contains the path from the current position to the end position. This corresponds to a PTP_REL motion on the robot system.

	This statement always refers to the current position of the robot. If the motion is interrupted and then re-executed, the robot executes the entire motion again, starting from the position at which it was interrupted.

	If the motion is executed as a spline motion, the following must be taken into consideration: If the motion is approximated and there is no further motion instruction in the buffer, the output “Done” is not set for the spline motion. In this case, the motion is not ended at the end point, but at the approximate positioning point.

Approaching a relative Cartesian position as quickly as possible 3: — Function block KRC_MoveDirectRelative

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	Starts/buffers the motion in the case of a rising edge of the signal.
Position	E6POS	Distance between end position and current position. The end position is based on the current position. (>>> E6POS) The data structure E6POS contains all components of the end position (= position of the TCP relative to the origin of the selected coordinate system). Note: If the value -1 is transferred for Status and Turn, the shortest path to the end position is taken.
Velocity	INT	Velocity 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type and refers to the value of DEF_VEL_CP of the robot system. Default: 0% (= velocity is not changed)
Acceleration	INT	Acceleration 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type and refers to the value of DEF_ACC_CP of the robot system. Default: 0% (= acceleration is not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the Cartesian coordinates of the end position refer (>>> COORDSYS)
Approximate	APO	Approximation parameter (>>> APO)
BufferMode	INT	Mode in which the statement is executed 1: ABORTING 2: BUFFERED (>>> BufferMode)
SplineMode	BOOL	TRUE = motion is executed as a spline motion. FALSE = motion is executed as a conventional point-to-point motion.

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = statement is currently being transferred or has already been transferred
Active	BOOL	TRUE = motion is currently being executed
Done	BOOL	TRUE = motion has stopped
Aborted	BOOL	TRUE = statement/motion has been aborted
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number