Jogging to a relative end position in the TOOL coordinate system with a linear motion

Description

The function block KRC_JogToolRelative can be used to move to a Cartesian end position in the TOOL coordinate system with a linear motion. The coordinates of the end position are relative to the current position. Status and Turn of the end position are ignored, i.e. the axis positions at the end position are not unambiguously defined.

The function is always executed in ABORTING mode, i.e. all active motions and buffered statements are canceled, the robot is braked and the linear motion is then executed.

Jogging to a relative end position in the TOOL coordinate system with a linear motion 1: — Function block KRC_JogToolRelative

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 from the target position to the current position. The target 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).
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)
OriType	INT	Orientation control of the TCP 0: VAR 1: CONSTANT 2: JOINT (>>> OriType)

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