LINEAR to LMOVE

uhm... what's the difference?

I've never used LINEAR points. Is the only difference in program syntax just like

LMOVE p1

vs

LINEAR p1

?
if so, just use a simple text editor like notepad++ with Kawasaki AS Language plugin :>

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.