Sorry, I wasn't clear on what I wanted. Though setting Normal to 0 does remove the approach and retract movements, it doesn't remove the instructions themselves.
I have KUKA program that I modify after exporting, where I wrap the first LIN movement on the path between events to enable the welder. The same thing is done for when the path ends to turn the welder off.
Code:
-> ARC_ON_BEFORE
FIRST_LIN_ON_PATH
-> ARC_ON_AFTER
-> ARC_OFF_BEFORE
LAST_LIN_ON_PATH
-> ARC_OFF_AFTER
The issue that I'm having is that RoboDK will remove instructions that are seen as duplicates if they're close enough. Because of this, instead of wrapping my events around the first LIN movement on the path. I have to wrap it on the first approach instruction that is on the path.
Code:
-> ARC_ON_BEFORE
FIRST_APPROACH
-> ARC_OFF_AFTER
SECOND_APPROACH <- This gets removed
FIRST_LIN_ON_PATH <- This gets removed
SECOND_LIN_ON_PATH
For whatever reason, the retract is doing the opposite. Where the last retract is kept but the last LIN and first retract is removed.
Code:
SECOND_LAST_LIN_ON_PATH
LAST_LIN_ON_PATH <- This gets removed
FIRST_RETRACT <- This gets removed
-> ARC_OFF_BEFORE
SECOND_RETRACT
-> ARC_OFF_AFTER
In RoboDK settings there is the option for, "Output for linear movements". Where I can set the values to 0 to prevent the movements from getting filtered. But I would like to avoid setting them to 0 in case I actually have duplicate instructions along the path that may cause the robot to throw errors or do something weird.
