Is there a quick or easy way to convert a block step program into AS language without having to step through every point and then saving the points in KRTerm?
Converting Block Step Program to AS language Program
-
woody2shoes0325 -
September 27, 2019 at 2:08 PM -
Thread is Unresolved
-
-
Welcome to the forum...…….
Unfortunately no.
Every step of a BLOCK program contains several elements which contain parameters associated with the programmed step, not just a position.
To list but a few elements of a BLOCK Step:
Interpolation Type
Speed No. 0
Accuracy No. 2
Tool 1
Timer 1
Inputs to wait for
Outputs to turn on/off
Position (which is only a Joint Angle not Transformation)
To accomplish the above in AS, can not be achieved on 1 step and requires separate steps.
So a simple AS equivalent of the above would be:
SPEED 10
TOOL T1
ACCURACY 10
SWAIT 1001
JMOVE #position
TWAIT 0.2
SIGNAL 20
Now picture this conversion, with a 300 Step BLOCK program.
2100 Steps in AS minimum plus the added confusion factor of repetitive commands, which WILL require some attention, not too mention the sudden memory usage in comparison, not too mention if you want to store the positions as joint angles or transformations aswell as choosing variable names for the positions/locations and constants associated with the speed, accuracy and timing values.
Now IMHO, this is precisely why Kawasaki did not provide a solution to convert......too much work to re-invent the wheel.