Hello all,
I would like to know if anybody knows how to write local point in trajectory.
Here is the extract of what I do because of a lot of variety of product:
Beggining of the routine:
22: --eg:Get points ;
23: SELECT R[26]=1,JMP LBL[11] ;
24: =2,JMP LBL[12] ;
25: =3,JMP LBL[13] ;
26: =4,JMP LBL[14] ;
27: =5,JMP LBL[15] ;
28: =6,JMP LBL[16] ;
29: =7,JMP LBL[17] ;
30: =8,JMP LBL[18] ;
31: ;
32: --eg:Div1 ;
33: LBL[11] ;
34: PR[1:]=P[11:] ;
35: PR[2:]=P[12:] ;
36: PR[3:]=P[13:] ;
37: PR[4:]=P[14:] ;
38: JMP LBL[20] ;
39: ;
40: --eg:Div2 ;
41: LBL[12] ;
42: PR[1:]=P[21:] ;
43: PR[2:]=P[22:] ;
44: PR[3:]=P[23:] ;
45: PR[4:]=P[24:] ;
46: JMP LBL[20] ;
47: ;
And so on for the others...
And for the saving, at the end of the routine, for the moment i have put:
230: !Teaching ;
232: !Type 1 ;
233: UFRAME_NUM=1 ;
234: UTOOL_NUM=10 ;
235:J P[11:] 100% FINE ;
236: PAUSE ;
237: UTOOL_NUM=10 ;
238:J P[12:] 100% FINE ;
239: PAUSE ;
240: UTOOL_NUM=4 ;
241:J P[13:] 100% FINE ;
242: PAUSE ;
243: UTOOL_NUM=1 ;
233: UFRAME_NUM=15 ;
244:L P[14:] 4000mm/sec FINE ;
245: PAUSE ;
246: !Type 2 ;
233: UFRAME_NUM=1 ;
248: UTOOL_NUM=10 ;
249:J P[21:] 100% FINE ;
250: PAUSE ;
251: UTOOL_NUM=10 ;
252:J P[22:] 100% FINE ;
253: PAUSE ;
254: UTOOL_NUM=4 ;
255:J P[23:] 100% FINE ;
256: PAUSE ;
257: UTOOL_NUM=1 ;
233: UFRAME_NUM=15 ;
258:J P[24:] 100% FINE ;
259: PAUSE ;
Is it possible to write directly the point of the trajectory where i am without "Touch Up" ?