Command to move linearly WITHOUT DECLARED POSITIONS

Tonycek

Hi all! I want to move abb robot linearly. I dont have declared positions where I want to get, I just want to make linear move (for example in x axis) when digital input is 1. Is there any command in RAPID, which can accomplish this task? I was thinking that set of speed of movement to some not zero value could do it, but I dont know, if there is command which can do it. Anyone with some help?Thank you very much

steve42

Here are some ideas....
create the data
PERS robtarget pMyPosition:=[[0,0,0,[1,0,0,0],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

 VAR num nMyXvalue:=0;

! Then read the current robot position with this instruction...
 pMyPosition:=CRobT(\Tool:=tGripper\WObj:=wobjMyWobj);
! set my x value to 100mm somewhere in your code
nMyXvalue:=100;
! Then use the variable inside an offset instruction inside your own routine 
MoveL Offs(pMyPosition,nMyXvalue,0,0),v100,fine,tGripper\Wobj:=wobjMyWobj;