Copyright 2004-2008 ABB All rights reserved.

Functions
RelTool - Make a displacement relative to the tool <- ->
-
Usage
RelTool (Relative Tool) is used to add a displacement and/or a rotation, expressed
in the active tool coordinate system, to a robot position.
Basic examples
Basic examples of the function RelTool are illustrated below.
Example 1
MoveL RelTool (p1, 0, 0, 100), v100, fine, tool1;
The robot is moved to a position that is 100 mm from p1 in the z direction of the
tool.
Example 2
MoveL RelTool (p1, 0, 0, 0 \Rz:= 25), v100, fine, tool1;
The tool is rotated 25 around its z-axis.
Return value
Data type: robtarget
The new position with the addition of a displacement and/or a rotation, if any,
relative to the active tool.
Arguments
RelTool (Point Dx Dy Dz [\Rx] [\Ry] [\Rz])
Point
Data type: robtarget
The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.
Dx
Data type: num
The displacement in mm in the x direction of the tool coordinate system.
Dy
Data type: num
The displacement in mm in the y direction of the tool coordinate system.
Dz
Data type: num
The displacement in mm in the z direction of the tool coordinate system.
[\Rx]
Data type: num
The rotation in degrees around the x axis of the tool coordinate system.
[\Ry]
Data type: num
The rotation in degrees around the y axis of the tool coordinate system.
[\Rz]
Data type: num
The rotation in degrees around the z axis of the tool coordinate system.
If two or three rotations are specified at the same time, these will be performed
first around the x-axis, then around the new y-axis, and then around the new
z-axis.
Syntax
RelTool(
[ Point := ] < expression (IN) of robtarget>,
[Dx :=] <expression (IN) of num>,
[Dy :=] <expression (IN) of num>,
[Dz :=] <expression (IN) of num>
[\Rx := <expression (IN) of num> ]
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[\Ry := <expression (IN) of num> ]
[\Rz := <expression (IN) of num> ])
A function with a return value of the data type robtarget.
Related
information For information about See
Position data robtarget - Position data
Mathematical instructions
and functions
Technical reference manual - RAPID overview,
section RAPID Summary - Mathematics
Positioning instructions Technical reference manual - RAPID overview,
section RAPID Summary - Motion
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