Advanced Robot Motion

Does anybody use Advanced Robot Motion package ?
I am using IRB 1200 and laser cuttting process.
I read application manual (148-... )
IF someone used this application package . I need ur help.
Example Code in Application Manual but doesnt work
I am using IRB 1200 and laser cuttting process.
I read application manual (148-... )
IF someone used this application package . I need ur help.
Example Code in Application Manual but doesnt work
PERS num friction_levels1{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
PERS num friction_levels2{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
CutHole p1,20,v50,tool1,friction_levels1;
CutHole p2,15,v50,tool1,friction_levels2;
PROC CutHole(robtarget Center, num Radius, speeddata Speed, PERS
tooldata Tool, PERS num FricLevels{*})
VAR bool DoTuning := FALSE;
IF (FricLevels{1} >= 9E9) THEN
! Variable is uninitialized, do tuning
DoTuning := TRUE;
FricIdInit;
ELSE
FricIdSetFricLevels FricLevels;
ENDIF
! Execute the move sequence
MoveC p10, p20, Speed, z0, Tool;
MoveC p30, p40, Speed, z0, Tool;
IF DoTuning THEN
FricIdEvaluate FricLevels;
ENDIF
ENDPROC
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