2.11. TRJLOG

Description	TRJLOG command saves the trajectory tracked by the arc sensing.
Grammar	• TRJLOG ST=<Start/End>,SC=<Sampling cycle>,LSP=<Recording start pose number>, LCV=<Recorded pose count saving variable number>
Parameter Description Grammar	Start/end	1: Starts trajectory saving 0: Ends trajectory saving	0, 1
	Sampling cycle	Designates the weaving cycle for sampling. It is the via point in case of “0”	0 ~ 100
	Recording start pose number	Pose parameter for starting the trajectory saving	1 ~ 999
	Recorded pose count saving variable number	LV% variable for storing the maximum number of the pose variables that are to be saved. The initial value of the variable is the maximum number of the variables that can be saved. It can be decreased by 1.	1 ~ 50
Parameter	• TRJLOG ST=1,SC=5,LSP=100,LCV=10 ← Start the trajectory saving, Saves the trajectory in sequence beginning with P100 for every 5 weaving cycles. LV10% is the maximum number of the variables that can be saved. The LV1% value will be decreased by 1.
Detailed Explanation	• Refer to the “arc sensing function manual” for more details. • The arc sensing function is optional.

2.12. ATDC

Description	ATDC command executes the automatic tool data calibration function.
Grammar	• ATDC T=<Tool number>,OrgP=<Original pose>,NewP=<Current pose>
Parameter	Tool number	Tool number which will execute automatic tool data calibration function	0~15
	Original pose	Originally saved pose
	Current pose	Current modified pose
Example of usage	• ATDC T=1,OrgP=P1,NewP=P2
Detailed Explanation	• Please contact manufacturer to use this as an option.

2.11. TRJLOG​