Follow Spline Relative Command

Character: none
Decimal: 6
Hexadecimal: 0x06
Command Value: Reserved (must be 0)

This command will begin following the next available spline relative to the current axis position.

This command is identical to the Follow Spline Segment(f) command, with the following exceptions:

The axis is not required to be at the position of the first spline point.
The Accel, Decel, Speed, and Command Value parameters are reserved and must be set to 0.
The following Mode word bits must be set to 0:

Acceleration and Deceleration Mode Select Bits (bits 0-1)
S-Curve Bit (bit 7)

This command allows a spline to be started at any position, effectively shifting the entire spline along the axis. This may cause parts of the spline to exceed the extend or retract limits, or the maximum or minimum axis positions. When the position exceeds the limits, the following occurs:

Exceeding Extend or Retract limits:
This causes a Target Position Moved Outside Limits parameter error and a Hard Stop.
Exceeding maximum or minimum axis positions (see one of the Scaling topics):
This causes a Target Position Moved Outside Limits parameter error. If the Parameter Error Auto Stop bit is set to Status Only, the axis will continue to follow the spline. However, the spline position will be truncated to the maximum or minimum position until the spline re-enters the limits.