Hello
i am plc programmer and eventually programming robot (kuka and fanuc) so not always easy to remember all,
here i am struggling to make one and half turn around tcp in one command with roboguide (fanuc m10ia), as you can see below, i did it with three.
if i put more than 180° it makes minus modulo half turn, it looks like the max we can rotate in one command is 180°, thanks for help .
1:J P[1] 100% FINE ;
2: PR[1]=LPOS ;
3: //PR[1]=PR[1]-PR[1] ;
4: PR[1,6]=310 ;
5:L PR[1] 1mm/sec FINE ;
6: PR[2]=LPOS ;
7: PR[2,6]=PR[2,6]-180 ;
8:L PR[2] 1mm/sec FINE ;
9: PR[3]=LPOS ;
10: PR[3,6]=PR[3,6]+100 ;
11:L PR[3] 1mm/sec FINE ;