Hello KUKA experts,
If there is a KRL program that contains .dat and .src files that begin something like this:
DECL E6POS XP01={X 0.0,Y 90.0,Z 5.0,A 0.0,B 0.0,C 180.0,S 1,T 6,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
...
;FOLD LIN P01 CONT Vel=2 m/s % P01 Tool[1] Base[0];%{PE}%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P01, 3:C_DIS C_DIS, 5:2, 7:P01
I wonder how Status S and Turn T are interpreted in case of linear movements.
I'm asking this because I have found in the system manual the following explanations: "The robot controller only takes the programmed Status and Turn values into
consideration for PTP motions. They are ignored for CP motions."
Nothing is said about LIN motions. In the manual, I found also this: "The robot controller retains the previous Status value. The Turn value is determined by the path
in CP motions. In the case of PTP motions, the robot controller selects the Turn value that results in the shortest possible path"
Do status S and Turn T have any significance when it comes to LIN motions? I cannot find the answer by reading the programming manual, so any additional clarification is very welcome.