MoveJointsRel#

This command has the exact behavior as the MoveJoints command, but instead of accepting the desired (target) joint set as arguments, it takes the desired relative joint displacements. The command is particularly useful when you need to displace certain joints a certain amount, but you do not know the current joint set and wish to avoid having to use the command GetRtTargetJointPos.

Syntax#

MoveJointsRel(Δθ1,Δθ2,Δd3,Δθ4)

Arguments#

  • the desired relative displacement of each joint, in degrees (for the revolute joints) and in mm (for the linear joint). The value of each of the arguments can be positive, negative or zero.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the MoveJointsRel command is represented by MotionCommandID 29. See Section 4.2 for more details.