Activating a motion along a vector

1: ABORTING
2: BUFFERED

Description

The function block KRC_VectorMoveOn is used to move a robot along a defined vector in Cartesian space. Here, the robot is moved by an external force.

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.
X	REAL	Defines the direction of the vector The vector must be specified in relation to the TCP of the TOOL coordinate system. The last taught point before the function block is called is the root point of the vector. Limits: Translational motion (X, Y, Z): max. 200 mm in the positive and negative directions Rotational motion (A, B, C): max. 30° in the positive and negative directions
Y	REAL
Z	REAL
A	REAL
B	REAL
C	REAL
VectorLimit	REAL	Permissible vector length limit If this value is exceeded, the robot is stopped with ramp-down braking. 0 … 30% Default: 10%
MaxDuration	REAL	Length of time after which VectorMove is deactivated if an error has occurred 0 … 10000 s Default: 100 s
TorqueOffsetValue	REAL	Defines the resistance torque of the robot (unit: Nm) The resistance torque is the torque with which the robot acts against the external force. It has the effect that the robot only begins to move when a specific amount of force is exerted. The resistance torque can be defined in addition to the holding torque. The holding torque depends on the robot position, type, size and additional load. 1 … 200 Nm Default: 1 Nm
BufferMode	INT	Mode in which the statement is executed 1: ABORTING 2: BUFFERED (>>> BufferMode)

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