Hi
I'd like know if there is a rapid way to transform the linear points in lmove points
Hi
I'd like know if there is a rapid way to transform the linear points in lmove points
uhm... what's the difference?
the difference is with linear point the abs.speed not work while lmove abs.speed work fine
i work in this mode move robot in and after i press rec button , the point recording Ila linear i want change this in lmove without lost the values of the axes
Now I get it - you're programming the robot by block teaching (with a TP) and want to edit move lines so that they use LMOVE.
I've already encountered this problem and the only sensible way I figured out is to save a backup from the controller, find the program you've just written, copy each position data and create positions in (as far as I remember) TRANS (or POS?) section of the backup, then rewrite your program in AS, where you can use LMOVE and other instructions.
Generally, I try to avoid programming Kawasaki robots by block-teaching. Using AS language is much more effective and user-friendly. I only use block-teaching to create welding trajectories.
Yeah use a text editor and copy the block step joint position into the position variables for AS language. Example the Linear block position (100,50,30,50,30,40) into another variable name like "#p1 (100,50,30,50,30,40)". Minus the quotation marks and it should be under JOINTS section of the backup.
Also in the actual program just put "LMOVE #p1" and it will use the (100,50,30,50,30,40) position from the original block step.
Yes i use tp because robot is used for welding process.
Thanks for your help