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The work object (coordinate system) to which the robot position in the instruction
is related.
This argument can be omitted, and if it is, the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used, this argument must be specified for a linear movement relative to
the work object to be performed.
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Correction data written to a corrections entry by the instruction &RUU:ULWH will be
added to the path and destination position, if this argument is present.
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See the instruction 0RYH&for information about circular movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to
the end point, the defined trigger activities are carried out. The trigger conditions are
fulfilled either at a certain distance before the end point of the instruction, or at a certain
distance after the start point of the instruction, or at a certain point in time (limited to a
short time) before the end point of the instruction.
During stepping execution forwards, the I/O activities are carried out but the interrupt
routines are not run. During stepping execution backwards, no trigger activities at all
are carried out.
([DPSOHV
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggC p1, p2, v500, trigg1, fine, gun1;
TriggC p3, p4, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine WUDS is run when the work point is at a position s before
the point Sor S respectively.
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