igus Drylin Delta, Руководство пользователя

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 “Variable”:
The target position is taken from the position variable given to “Variable”.
The movement speed is given by “Velocity”. It is measured in mm/s, if it exceeds the
maximally allowed movement speed of the robot it will cause a kinematic error during
execution.
The Linear command can be accessed in iRC’s Program Editor under the menu entries
“Action”->”Linear motion” and “Action”->”Variable motion”->”Linear”.
8.5.5. Relative Motion
The Relative command allows to move the robot relative to its current position. It can be
accessed via the menu items under “Action”->”Relative motion”.