I think i create everything and i understand the structure a little bit but i couldn't understand how im gonna use this and how is it gonna make my job easier?
thanks a lot
PROC main()
nIndex := 1;
LiM p1Home, v500, fine;
LiM p2Corner, v500, fine;
LiM p3Target, v500, fine;
Return;
EndIF
PROC rMove_to_Home()
WHILE nIndex > 0 DO
MoveL pPosRec{nIndex}, v300, fine, tool0;
nIndex := nIndex -1;
EndWHILE
EndPROC
PROC Lim(robtarget Point, Speeddata Velocity, zonedata Zone)
! Linear Move
nIndex := nIndex + 1;
pPosRec{nIndex} := Point;
MoveL Point, Velocity, Zone, tool0;
EndPROC
I hope the sample program will help you.