Approaching a relative Cartesian position as quickly as possible

Description

The function block MC_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.

Approaching a relative Cartesian position as quickly as possible 2: — Function block MC_MoveDirectRelative

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 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	REAL	Velocity for the path motion 0 … 100% 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 not changed)
Acceleration	REAL	Acceleration for the path motion 0 … 100% 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 not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the Cartesian coordinates of the end position refer (>>> COORDSYS)
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