Moving additional joint axes

"New Block" value: "SET_ADD_JOINTS".

[1]

  • SET_ADD_JOINTS: Adopt the positions of the additional joint axes modally and move to them synchronously with the next motion command (LIN/PTP/CIRC).
  • PTP_ADD_JOINTS: Perform the movement of the additional joint axes directly to the configured positions (not only with the next path segment).

[2]

Selection of the position via ...

  • Assignment type (Var = SRL variable, Val = specified value, Keep = no assignment is to be made, the previous value of the property is retained)
  • Assignment value (Var = choice box with the index of the available SRL variables, Val = edit box for absolute values with the type floating-point number)

[3]

Enter absolute position

[4]

Select the SRL‑REAL variable from which the value for the absolute position is to be taken.