Approaching a relative Cartesian position with a linear motion

Description

The function block MC_MoveLinearRelative is used to execute a linear motion to a relative Cartesian end position. The parameter “Position” contains the path from the current position to the end position.

Approaching a relative Cartesian position with a linear motion 1:

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.

Approaching a relative Cartesian position with a linear motion 2:
Function block MC_MoveLinearRelative

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

Execute

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

REAL

Velocity for the path motion

  • 0 … 2 m/s

The maximum value is dependent on the robot type and refers to the value of DEF_VEL_CP of the robot system.

Default: 0 m/s (= velocity is not changed)

Acceleration

REAL

Acceleration for the path motion

  • 0 … 2.3 m/s2

The maximum value is dependent on the robot type and refers to the value of DEF_ACC_CP of the robot system.

Default: 0 m/s2 (= 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)

Approximate

APO

Approximation parameter

(>>> APO)

QueueMode

INT

Mode in which the statement is executed

  • 1: ABORTING
  • 2: BUFFERED

(>>> QueueMode)

Outputs

Parameter

Type

Description

ComAcpt

BOOL

TRUE = statement was completely transferred and confirmed by the robot controller.

ComBusy

BOOL

TRUE = statement was transferred and confirmed by the robot controller, but has not yet been executed completely.

Busy

BOOL

TRUE = function block has not yet been executed completely.

Active

BOOL

TRUE = motion is currently being executed

Done

BOOL

TRUE = motion has stopped

CommandAborted

BOOL

TRUE = statement/motion has been aborted

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number