RAPID reference manual - Technology

InstructionMoveAbsJRobotWare-OSMoveAbsJ - Moves the robot to an absolute joint positionMoveAbsJ (Move Absolute Joint) is used to move the robot to an absolute position,defined in axes positions.Example of use:- the end point is a singular point- for ambiguous positions on the IRB 6400C, e.g. for movements with the toolover the robot.The final position of the robot, during a movement with MoveAbsJ, is neither affectedby the given tool and work object, nor by active program displacement. However, therobot uses these data to calculating the load, TCP velocity, and the corner path. Thesame tools can be used as in adjacent movement instructions.The robot and external axes move to the destination position along a non-linear path.All axes reach the destination position at the same time.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesMoveAbsJ p50, v1000, z50, tool2;The robot with the tool tool2 is moved along a non-linear path to the absoluteaxis position, p50, with velocity data v1000 and zone data z50.MoveAbsJ *, v1000\T:=5, fine, grip3;The robot with the tool grip3, is moved along a non-linear path to a stop pointwhich is stored as an absolute axis position in the instruction (marked with an *).The entire movement takes 5 s.ArgumentsMoveAbsJ[\V] | [\T][\Conc] ToJointPos [\ID] [\NoEOffs] SpeedZone [\Z] [\Inpos] Tool [\WObj][\Conc] (Concurrent) Data type: switchSubsequent instructions are executed while the robot is moving. The argument isused to shorten the cycle time when, for example, communicating with externalequipment, if synchronisation is not required.RAPID reference manual - part 1a, Instructions A-R 249