When the program starts, the values of the basic state are automatically set for the parameters. See also Establishing the basic state.
Assignment used to set the absolute or relative coordinates for the next motion commands.
"New Block" value: "SET_ABS_REL_POS"
[1]
Selection of coordinates to be set
TargetPos – target position of the motion command (default setting: ABSOLUTE)
CircAuxPos – auxiliary point for entering a circle command. This is the circle center or a point on the circular arc, depending on the circle mode (default setting: RELATIVE)
AdditionalJointPos – position values of the additional joint axes
[2]
Type of value ("Val" for constant values; "Var" for variables)
[3]
If the "Val" setting is selected:
ABSOLUTE – absolute position in the current coordinate system
RELATIVE – position relative to the initial position of the path segment
If the setting "Var" is selected:
Positioning is performed relative when the selected SRL‑BOOL variable is "TRUE" and absolute when it is "FALSE".
