Define basic settings and target point
A Relative waypoint command represents the definition of a movement of the robot to a specific position or to a specific target point. However, the target point is defined relative to the previous position of the robot.
As no absolute target point is therefore known and therefore also not the position of the robot at the end of the relative movement, it can happen that the robot would move to an invalid position or that the path to the target point is not possible. In such a case, the programme execution is aborted with a corresponding message.
The configuration of the Relative waypoint command is identical to the configuration of the Waypoint command.
Difference to the Waypoint command:
When using variables, the exact type of the target position variable must also be specified. This information is not stored when assigning to a target position variable, which enables a more flexible use of target position variables.
The target point defines the position of the TCP in the global coordinate system and its orientation. Every relative waypoint requires a target point, so the Relative Waypoint command can only be saved once a target point has been defined.
There are three ways to define the relative target point.
Robot axes
A delta value can be set for each axis. When the programme is executed, these delta values are added to the axis values of the previous position of the robot.
Translation and Rotation
Translation and rotation can be defined both individually and in combination. Both the base coordinate system and the TCP coordinate system can be selected as the reference coordinate system.
Delta values can be set for the coordinate values of the TCP. When the programme is executed, these delta values are added to the coordinate values of the TCP of the previous position of the robot.
The rotation axis is determined by a vector and a delta value can be set for the angle value. When the programme is executed, the rotation axis is rotated by the angle value.
