Move.Rel Method

Moves the robot in a position-controlled motion to a Location that is relative to the final position and orientation of the previous motion.

Move.Rel (location_1, profile_1)

Prerequisites

High power to the robot must be enabled.

The robot must be homed.

The robot must be Attached by the thread.

Parameters

location_1

A required Location Object or an expression that evaluates to a Location Object value. Can be either a Cartesian or an Angles type value.

profile_1

A required Profile Object or an expression that evaluates to a Profile Object value. Can specify either Cartesian straight-line or joint interpolated motions.

Remarks

This method simultaneously moves all of the axes of the robot in a coordinated, position controlled motion to a destination specified by the “total position” of location_1, which is interpreted as an incremental change relative to the final position and orientation of the previous motion. If location_1 is a Cartesian Location, the “total position” of location_1 is evaluated relative to the final Cartesian position and orientation of the previous motion. If location_1 is a Angles Location, the motion’s destination is computed by adding location_1’s set of angles to the final angles of the previous motion.

Note, that this motion is relative to the actual final position and orientation of the previous motion and not the planned destination of the previous motion (Robot.Dest, Robot.DestAngles). The planned destination remains the same even if the motion prematurely terminates execution. This was designed to allow a motion to be retried. However, the actual final position and orientation is modified by a Soft E-Stop, a Hard E-Stop, a RapidDecel command or other conditions. So, the Rel method is designed to allow a program to do an incremental motion from wherever the robot actually stopped.

For Cartesian Locations, it should be keep in mind that the incremental motion is performed in the tool coordinate system of the robot. For example, a positive incremental Z motion will not necessarily move up vertically in the world coordinate system. It will move along the Z-axis of the robot’s end effector.

Once the Rel method computes the desired motion destination, the motion execution is identical to the Move.Loc method. The motion can be a Straight-line or joint interpolated motion, can be blended with the previous and the next motions as desired, and the performance parameters are defined by profile_1 (e.g. Speed, Accel, Decel, AccelRamp, DecelRamp, InRange).

Examples

Dim prof1 As New Profile    ' Create new profile set to default values
Dim loc1 As New Location    ' Create new location value
loc1.XYZ(10,20,30,0,180,20) 	 ' Define position to move to
Move.Loc(loc1, prof1)       	 ' Move to loc1 using prof1
loc1.XYZ(10)                	 ' Define incremental motion in X
Move.Rel(loc1, prof1)       	 ' Move 10 mm in Tool X, not World