switch posture halfway through

[AiSard]

Is there a way to switch posture using only LIN movements (no PTP)?
either using just PRC, or adding something to the KRC code maybe?

i.e. the first 10 movements I want it to be in 110 configuration, but the second set of ten movements I want to be in 010 configuration? something like that?

Thanks,

[Johannes @ Robots in Architecture]

To change the posture, a robot with six axes has to leave the straight path, which LIN movements cannot do. So for changing the posture, you would need to use a single PTP or axis movement in between, unfortunately.

Best,
Johannes