Hello,
This is likely a really dumb question, but I'm trying to figure out the "correct" way to write motion commands when programming offline. I've never used Kuka before and I don't have a robot in front of me to mess around with and test things out. I have both WorkVisual 6.0 and OrangeEdit installed and have been messing around with both for this.
After reading through sections of the KUKA System Software 8.3 Operating and Programming Instructions for System Integrators document, I found that it showed two ways to write motion commands. One was as a "User" using an inline form, and the programming shown was from that on the teach pendant. It's my understanding that this also automatically defines the point in the .DAT file. The other way was as "Expert" using KRL syntax. This showed the syntax and an example command as:
PTP End point <Approximation>, PTP {X 12.3,Y 100.0,Z 50,A 9.2,B 50,C 0,S ’B010’,T ’B1010’}
Now personally, I would like to use declarations for all of the points so I can reuse them instead of writing the coordinates in on every line, so I'm assuming the command can also be written as something like (but the document does not show an example like that):
PTP point1
And then I would declare point1 as a point in the .DAT file (manually?).
Where I am confused is when I use OrangeEdit's ILF or a snippet to input a motion command, it writes the point in a different way, with a fold and a couple lines of code in it. So, if I don't use an ILF to create a motion command, will the command be allowed to be edited from the teach pendant with an ILF?
The ILF also has inputs for tool data and base coordinate system, which isn't shown as an input for the syntax of the PTP command in this document. How would I add this information to the "Expert" command?
Also, since the points are not auto declared, what declarations need to be created in my .DAT file for each point that I want to create? Is there a way to automatically do this that I'm not seeing?
If both of these ways to create motion commands are completely valid, which do you guys prefer to use in your experience?
Thanks for the help.