Hello I have a program with 2000 lines that look like this:
Sort; Decide you have to weld this point or not.
IF ok=TRUE THEN
ArcL [[154.78,200.90,9.46],[0.115561,-0.0932702,-0.9721817,0.1811327],[0,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],Motion_speed,seam1,weld1,wv1,Z,tl_\Wobj:=wob1;
ELSE
MoveL [[154.78,200.90,9.46],[0.115561,-0.0932702,-0.9721817,0.1811327],[0,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],Motion_speed,Z,tl_\WObj:=wob1;
ENDIF
The problem is that than robot welds all path and when he needs to stop welding he doesn't turn off welding machine.
He starts moving with MoveL instruction but still with welding machine ON.
May someone have experience with lines like in example, anyone know how this ArcL instruction exactly works?