o ljm

ACHTUNG! Auto LJM kann man in Steuerung einstellen -> Mit Autoljm On/Off einschaltbar

AutoLJM is available for following commands.
Arc, Arc3, Go, Jump3, Jump3CP, Move

When AutoLJM is On, the manipulator operates with a least joint motion, just like using the LJM function,
whether the LJM function is applied to the position data to be passed to each command or not. For
example, to get the same effect as Go LJM(P1), you can write a program as follows.
AutoLJM On
Go P1
AutoLJM Off
Since AutoLJM can enable LJM within a particular section of a program, it is not necessary to edit each
motion command.
When AutoLJM is Off, the LJM function is only enabled when it is applied to the position data to be
passed to each motion command.
In any of the following cases, AutoLJM has the setting specified in the controller settings (factory default:
Off).

AutoLJM Statement Example
AutoLJM On
Go P1
Go P2
AutoLJM Off

Returns the state of the AutoLJM.

Syntax
AutoLJM

Return Values
0 = Auto LJM OFF
1 = Auto LJM ON

See Also
AutoLJM

AutoLJM Function Example

If AutoLJM = Off Then
    Print "AutoLJM is off"
EndIf