I have a KRC4 robot and I am using external equipment to generate the target position. The target position only needs to move on X,YZ and rotates about axis 6. Using the code below the robot goes to the correct position but does a strange angular move to reach its final position. Ideally I would like to just use a PTP command rather than LIN but the robot throws up an error.
I have put a position above the target position so in theory the tool only needs to rotate about angular A.
;Moves to the detected position.
IF rPrm==0 THEN
pTgt = $POS_ACT
pTgt.X = rPrm
pTgt.Y = rPrm
pTgt.Z = rPrm
pTgt.C = rPrm
pTgt.B = rPrm
pTgt.A = rPrm
Is it possible to use a PTP command?
Also how do I change the speed of the LIN command?