Moving To A Cartesian Position With A Ptp_Rel Motion - Kuka .PLC mxAutomation Logix 1.0 Manual

7.7.4

Moving to a Cartesian position with a PTP_REL motion

The function block KRC_MoveDirectRelative executes a point-to-point motion
Description
to a Cartesian end position. The coordinates of the end position are relative to
the current position.
rupted.
Fig. 7-42: Function block KRC_MoveDirectRelative
Memory
Parameter Type
KRC_AxisGroup AXIS_GROUP_
RefArr REF_ARR
Inputs
Parameter Type
Position E6POS
CoordinateSys- COORDSYS
tem
Approximate APO
AxisGroupIdx INT
ExecuteCmd BOOL
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
A REL statement always refers to the current position of the robot. For
this reason, if a REL motion is interrupted, the robot executes the en-
tire REL motion again, starting from the position at which it was inter-
Description
Reference to the internal structure of the axis group
Description
Coordinates of the Cartesian end position
(>>> "E6POS" Page 26)
The data structure E6POS contains all components of
the end position (= position of the TCP relative to the ori-
gin of the selected coordinate system).
Coordinate system to which the Cartesian coordinates of
the end position refer
(>>> "COORDSYS" Page 26)
Note: In the case of a PTP_REL motion, the Cartesian
coordinates always refer to the BASE coordinate system.
Approximation parameter
(>>> "APO" Page 25)
Index of axis group
Starts/buffers the motion in the case of a rising edge of
the signal.
7 Programming
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