Found a little utility in the EDIT menu today that converts a "program file" to a "robot language" file and vs versa. So I made a simple four step program and ran it through the conversion. It produced an ascii file with five lines in it. Four like this one:
MOVEJ L,(-119.537,51.2885,-23.4192,33.0131,-62.1904,-89.1479),S=1500,A=1,H=0
and one that says END
I have been able to figure out most of what it is all about. MOVEJ -- my guess, 'move joint'. L -- linear interpolation. ( num, num, num.....) angle in degrees for each of the six axis. S=1500 -- speed. A=1 -- accelleration. H=0 -- I don't know yet.
Sure are some funny things missing from the manual tho. Acceleration is one of 'em. On the pendant, I have four accelleration selections 0-3. Changing then value does not seem to change the movement of an axis much (means I can't see any diffrence).
Questions for today: what do ya'll know about that accelleration thing? And what other robots out there use a command like the MOVEJ?
Keshka