I want to know how exactly the motion commands are interpreted by the KUKA in the relative and absolute modes. As far as my knowledge, this is what I think it is:
Absolute Mode: The coordinates provided to the KUKA as input will move the KUKA by the given input with respect to the KUKA home position(user-defined). It does not consider the current/previous position For eg: if (10,20,-15) is provided as the input, the KUKA moves 10 mm, 20 mm and 15 mm in the X, Y Z directions respectively from the home position.
Relative: The coordinates provided to the KUKA as input will move the KUKA by the given input with respect to the current postion of the KUKA. Taking the same input as above, let's say the KUKA is currently positioned at (20,50,-30). The new position of the KUKA will then be (30,70,-45)
Please correct me if I'm wrong (which I'm quite sure I'm)
Also, in my application I'm moving the KUKA to the home position using the PTP command in the KRL program. There onward I want the KUKA to move in the relative mode, interpreting the input as incremental values, instead of absolute. This I guess is done using PATHCORR. The object parameters of the RSI object ST_ON1 specifies the coordinate system and the mode for PATHCORR as:
eg: ST_ON1 (Base, 1/0)
1/0 define the integration mode
The integration mode defines how the coordinates sent to the robot are interpreted by the controller.
In case of relative mode, the coordinates sent to the robot are calculated from the actual position of the robot
However, in my code the parameter defining mode, is already set to 1. So I assume I'm operating the KUKA in relative mode only.
Also, In case we need to initially move the KUKA in the absolutre mode to some pre-defined position (say HOME) and then switch its operation to the relative mode, in order to interpret the input as incremental values, How will I be able to do this?