Hey y'all!
A few months ago I switched from using KUKA robots to FANUC. I am trying to convert several KRL programs into TPP. For the most part, this is pretty straightforward, but I'm not quite sure how to handle splines. In KRL, you can just do
and the robot will smoothly interpolate through all of the points (I think it's a cubic spline, but I'm not positive about that).
I doubt I can create a program as simple as this:
Is there a way to spline through points on FANUC, or is my best bet to calculate a bunch of intermediate points, put them in position registers, and do something like
Code
:J P[1] 100% CNT0;
:J PR[1] 100% CNT100;
:J PR[2] 100% CNT100;
...
:J P[2] 100% CNT0;
...
:J PR[98] 100% CNT100;
:J PR[99] 100% CNT100;
:J P[3] 100% CNT0;
Thanks!