MoveLinRelWrf#

This command is similar to the MoveLinRelTrf command, but instead of defining the desired pose with respect to the current pose of the TRF it is defined with respect to a reference frame that has the same orientation as the WRF but its origin is at the current position of the TCP.

Syntax#

MoveLinRelWrf(x,y,z,γ)

Arguments#

  • x, y, z: the position coordinates, in mm;

  • γ: the orientation angle, in degrees.

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 MoveLinRelWrf command is represented by MotionCommandID 5. See Section 4.2 for more details.