custom motion command

Amol

can anyone help me in creating a custom motion command,i need to add a analog output in every motion command
For eg -

lemster68

Is there some reason you do not want to use the Rapid instruction MoveLAO?

lemster68

Try this.

MODULE Grind(SYSMODULE,NOSTEPIN,VIEWONLY,READONLY)

    !***********************************************************

    !

    ! Module: Unnamed 

    !

    ! Description:

    !   Custom motion proc for Move with analog output

    !

    ! Author: Lemuel

    !

    ! Version: 1.0

    !

    !***********************************************************

CONST robtarget myRobtarget10:=[[100,200,300],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

CONST robtarget myRobtarget20:=[[100,200,300],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

CONST robtarget myRobtarget30:=[[100,200,300],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PROC GrindL(VAR Robtarget pPos,

        VAR Speeddata Speed

        \num Time,

        VAR zonedata zone,

        PERS tooldata tool,

        \PERS wobjdata Wobj,

        VAR signalAO analog,

        num value)

        

        MoveLAO pPos,Speed\T?Time,Zone,tool\Wobj?Wobj,Signal,value;

    ENDPROC

    PROC TestMotion()

        GrindL myRobtarget10,v100,z10,tool0,AO1,2.5;

        GrindL myRobtarget20,v200,z50,tool0,AO1,5;

        GrindL myRobtarget30,v80,z10,tool0,AO1,3.5;

    ENDPROC

ENDMODULE