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

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;
FricIdSetFricLevels FricLevels;
! Execute the move sequence
MoveC p10, p20, Speed, z0, Tool;
MoveC p30, p40, Speed, z0, Tool;
IF DoTuning THEN
FricIdEvaluate FricLevels;


  • It doesn't work because it is example code, if you read the code line by line you will see placeholders such as "speed" and "tool" or "num Radius." This is intended to serve as a guide for you to create your own program.