Hi,
I am currently developing a program with a Kuka Robot, in which I constantly change tools with these two commands:
$TOOL = TOOL_DATA[5]
BAS(#TOOL,5)
then I make movement with PTP_REL, however the movement is not continuous like when you move the robot from one PTP to another. I have noticed that a PTP is defined with BAS(#PTP_PARAMS,100), and there the motion conditions are defined. But since it is not a PTP but PTP_REL, I don't know how I can define the motion conditions to always have a continuous motion and not a step-by-step one.
Greetings and thank you very much for your answers