Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

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71 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Outputs
7.7.2 Moving to a Cartesian position with a LIN_REL motion
Description
The function block KRC_MoveLinearRelative executes a linear motion to a
Cartesian end position. The coordinates of the end position are relative to the
current position.
Acceleration INT Acceleration
 0 … 100%
Refers to the maximum value specified in the machine
data. The maximum value depends on the robot type and
the selected operating mode.
Default:
0%
(= acceleration is not changed)
OriType INT Orientation control of the TCP
 0
: VAR
 1
: CONSTANT
 2
: JOINT
( >>> "OriType" Page 28)
BufferMode INT Mode in which the statement is executed
 1
: ABORTING
 2
: BUFFERED
( >>> "BufferMode" Page 27)
Parameter Type Description
Parameter Type Description
ErrorID DINT Error number
Busy BOOL TRUE = statement is currently being trans-
ferred or has already been transferred
Active BOOL TRUE = motion is currently being executed
Done BOOL TRUE = motion has stopped
Aborted BOOL TRUE = statement/motion has been aborted
Error BOOL TRUE = error in function block
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-
rupted.