Hi,
I am using KRC4 with KSS 8.3.22. My application requires spline blocks. The fist point of the spline block is with absolute coordinates (SPL). The following points are relative to the fisrt one (SPL_REL). I did this so I can repeat the same motion on other places in the work space. I can accomplish this simply by changing the coordinates of the absolute point, so I need something like the code below.
Unfortunately, I get syntax error at the line:
SPL {X XP0, Y YP0, Z ZP0, C CP0, B BP0, A AP0}
How can i do something like this?
Code
XP0 = -1200 + OffsetX
YP0 = -800 + OffsetY
ZP0 = -400 + OffsetZ
CP0 = 0 + OffsetC
BP0 = 0 + OffsetB
AP0 = 0 + OffsetA
SPLINE WITH $VEL= SVEL_CP( 0.116, , LCPDAT1), $TOOL= STOOL2( FS1), $BASE= SBASE( FS1.BASE_NO), $IPO_MODE= SIPO_MODE( FS1.IPO_FRAME), $LOAD= SLOAD( FS1.TOOL_NO), $ACC= SACC_CP( LCPDAT1), $ORI_TYPE= SORI_TYP( LCPDAT1), $CIRC_TYPE= SCIRC_TYP( LCPDAT1), $JERK= SJERK( LCPDAT1)
SPL {X XP0, Y YP0, Z ZP0, C CP0, B BP0, A AP0}
SPL_REL {X 15, Y 5, Z 1, C 0, B 0, A 0}
SPL_REL {X 10, Y 7, Z 4, C 0, B 0, A 0}
SPL_REL {X 14, Y 4, Z 7, C 0, B 0, A 0}
SPL_REL {X 12, Y 6, Z 8, C 0, B 0, A 0}
ENDSPLINE
