MC_MoveLinearRelative

MC_MoveLinearRelative

This Function Block commands an interpolated linear movement on an axes group from the actual position of the TCP to a relative position in the specified coordinate system.

Note

This Function Block applies to the MCS or PCS System, depending which is activated and also follows the dynamic trans-formation when activated

MC_MoveLinearRelative - Example 1

Example MC_MoveLinearRelative

Timing diagram for example above. The dots on the red line are based on the same timing difference and represent the velocity.

MC_MoveLinearRelative - Example 2

Second example with MC_MoveLinearRelative and Blending

Timing diagram for example below (the dots on the red line are based on the same timing difference and representing the velocity):

• Input Description
• Output Description