Hi everyone,
while programming a sequence of individual spline motions (SLIN specifically) on a KRC4 with KSS8.6, I found out the assignment made with the "WITH" statement does change the variables following it but does not "restore" them to original value at the end of the instruction. Considering the following code and ignoring other motion parameters except for $VEL_AX set to 100 for all axes, I would expect the robot to move to "pos1" with a tcp velocity of 0.1m/s then to "pos2" with a tcp velocity of 1m/s. This does not happen. The value set on WITH $VEL.CP = 0.1 is retained for the following motions.
However, the system integrator manual for KSS8.6 specifies the following:
Am I doing something wrong? I'd like to operate the "WITH" statement with the behavior specified in the manual...