Hi All,
1) I have this 'sub-code' and the segments moves are smooth as expected, however there are those 'undesirable' stops between segments. Any idea how to get smooth (non-stopping) transitions? .
FOR seg = 1 TO COM_SEG-1
strt = 5*seg - 4
PTP COM_XP[strt]
SPLINE WITH $VEL.CP = COM_VEL[seg]
SPL COM_XP[strt+1]
SPL COM_XP[strt+2]
SPL COM_XP[strt+3]
SPL COM_XP[strt+4]
ENDSPLINE
ENDFOR
Note: 1) Every parameter is a variable I can pre-set.
2) I tried SPTP, SLIN for line 3 but the robot slows down close to a stop at the transitions, as you'd see with the PTP, LIN moves.
2) Another (kind of related) question.
Any way of calling a motion command (like, a single, spline block) from an src file residing in a different folder (a. within /krc/R1/Program and b. in the C:\ or even the D:\ folder?