I am trying to understand if and how APO parameters could afect robot initial positioning when start a program that looks like:
------------------
BAS(#VEL_PTP, 10)
BAS(#ACC_PTP, 10)
PTP $POS_ACT
$APO.CDIS=0.1
$APO.CORI=1
$APO.CVEL=100
$APO.CPTP=50
BAS(#VEL_PTP, 75)
$IPO_MODE=#BASE
$BASE=BASE_DATA[17]
$TOOL=TOOL_DATA[1]
$VEL.CP=0.167
$VEL_EXTAX[1]=100
EX_BASE(17,2)
$VEL.CP=0.167
PTP {A1 83.87, A2 -52.86, A3 50.3, A4 -27.64, A5 91.81, A6 87.89, E1 90} C_PTP
LIN {X -347.47,Y 105, Z 808.92, A -174.89, B 17.3, C 1.52, E1 90} C_VEL
$VEL.CP=0.05
LIN {X -207.67,Y 105, Z 361.93, A -174.89, B 17.3, C 1.52, E1 90} C_VEL
$VEL.CP=0.167
In config.dat I have fallowing values:
; APO - parameters
;--------------------------------
INT DEF_APO_CPTP=50
INT DEF_APO_CVEL=100
REAL DEF_APO_CDIS=3.0
REAL DEF_APO_CORI=5.0
;==================================
The robot will aproximate motions according with config.dat values for APO or will consider those from src file?
APO.CORI , APO.CDIS APO.CVEL AND APO.CPTP are activated only when each line has in its end C_ORI,C_DIS,C_VEL or C_PTP ?
Thank you !