RAPID reference manual - Technology

InstructionEOffsOnRobotWare-OSEOffsOn - Activates an offset for external axesEOffsOn (External Offset On) is used to define and activate an offset for external axesusing two positions.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesMoveL p10, v500, z10, tool1;EOffsOn \ExeP:=p10, p20;Activation of an offset for external axes. This is calculated for each axis basedon the difference between positions p10 and p20.MoveL p10, v500, fine \Inpos := inpos50, tool1;EOffsOn *;Activation of an offset for external axes. Since a stop point that is accuratelydefined has been used in the previous instruction, the argument \ExeP does nothave to be used. The displacement is calculated on the basis of the differencebetween the actual position of each axis and the programmed point (*) stored inthe instruction.ArgumentsEOffsOn[\ExeP] ProgPoint[ \ExeP ] (Executed Point) Data type: robtargetThe new position of the axes at the time of the program execution. If this argumentis omitted, the current position of the axes at the time of the program executionis used.ProgPoint (Programmed Point) Data type: robtargetThe original position of the axes at the time of programming.Program executionThe offset is calculated as the difference between ExeP and ProgPoint for each separateexternal axis. If ExeP has not been specified, the current position of the axes at thetime of the program execution is used instead. Since it is the actual position of the axesthat is used, the axes should not move when EOffsOn is executed.RAPID reference manual - part 1a, Instructions A-R 95