MoveLinRelTrf#

This command has the same behavior as the MoveLin command, but allows a desired pose to be specified relative to the current pose of the TRF. Thus, the arguments x, y, z, and γ represent the desired pose of the TRF with respect to the current pose of the TRF (i.e., the pose of the TRF just before executing the MoveLinRelTrf command).

As with the MoveLin command, if the complete motion cannot be performed, it will not even start and an error will be generated.

Syntax#

MoveLinRelTrf(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 MoveLinRelTrf command is represented by MotionCommandID 4. See Section 4.2 for more details.