[Jeremy]

There is no way to change it automatically in RoboDK.
The reason is, the first MoveJ is there to ensure you are using the proper robot configuration before you get started.
So you know, MoveJ respect robot configuration, MoveL don't. More on that here:https://www.youtube.com/watch?v=mk1wvc19...3&index=10

What you can do is write a small python script changing the first MoveJ of a program with a MoveL.
看看this example://www.sinclairbody.com/doc/en/PythonAPI/exam...structions

If you look towards the end of the example, something like this should work, or at least be very close to doing so:

Code:

elif instruction_dict['Type'] == INS_TYPE_MOVE:
print("Move instruction: use setInstruction to modify target")
ins_name, ins_type, move_type, isjointtarget, pose, joints = prog.Instruction(ins_id)
#prog.setInstruction(ins_id, ins_name, ins_type, move_type, isjointtarget, pose, joints)
prog.setInstruction(ins_id, ins_name, ins_type, MOVE_TYPE_LINEAR , isjointtarget, pose, joints)