My question is the data that needs to be sent to the robot, for example
The current position of the robot, Z, is 1000mm. Increase the target position of 5mm every 12ms, i.e. Z_ target(12ms)=1005
Z_ target(24ms)=1010
Z_ target(36ms)=1015
Z_ target(48ms)=1020
……
It has been tested and verified that the #RELATIVE mode is adopted, and the data sent is
Z_ correction(12ms)=5
Z_ correction(24ms)=5
Z_ correction(36ms)=5
Z_ correction(48ms)=5
Now, if sensor-guided motion based on absolute values is adopted for correction, the correction data will be sent
Z_ correction(12ms)=5
Z_ correction(24ms)=10
Z_ correction(36ms)=15
Z_ correction(48ms)=20
……
Or send data
Z_ correction(12ms)=1005
Z_ correction(24ms)=1010
Z_ correction(36ms)=1015
Z_ correction(48ms)=1020
According to the pictures in the software documentation, I understand that the difference between #ABSOLUTE and #RELATIVE is that the starting point of sending data calculation is different.