Hi,
I suggest that we could launch this topic in order to list all known KRL undocumented features.
I will begin with INVERSE and FORWARD :
INVERSE ===
E6POS DESTINATION ; Point we want to reach
E6AXIS DESTINATION_AXIS
INT ERRORCODE
$TARGET_STATUS=#SOURCE
ERRORCODE=0
DESTINATION_AXIS=INVERSE(DESTINATION,XHOME,ERRORCODE)
IF (ERRORCODE<>0) THEN
; Go to Destionation
PTP DESTINATION
ELSE
; Can't reach destination
HALT
ENDIF
FORWARD====
E6POS DESTINATION
E6AXIS DESTINATION_AXIS ; E6AXIS we want to reach by a LIN motion
INT ERRORCODE
$TARGET_STATUS=#SOURCE
ERRORCODE=0
DESTINATION=FORWARD(DESTINATION_AXIS,ERRORCODE)
IF (ERRORCODE<>0) THEN
; Go to Destionation
LIN DESTINATION C_DIS
ELSE
; Can't reach destination
HALT
ENDIF
WHAT ELSE