Hello All,
I would like to program the motion commands of KUKA robot not from the teach box but on work visual and download it later on the controller.
When we teach a position on the teach box we see the motion command like this:
;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,100)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
I want to define my own positions in the global config.dat file and use it in the program like this:
PTP XTestPose1
PTP XTestPose2
The problem in doing so is I am not able to control the velocities for the motion commands, I searched the manual if I can set this but nothing seems to work. Does anybody have an Idea how I could achinve this ?