RAPID reference manual - Technology

InstructionMoveAbsJRobotWare-OS[ \Z ] (Zone) Data type: numThis argument is used to specify the position accuracy of the robot TCP directlyin the instruction. The length of the corner path is given in mm, which is substitutedfor the corresponding zone specified in the zone data.[ \Inpos ] (In position) Data type: stoppointdataThis argument is used to specify the convergence criteria for the position of therobots TCP in the stop point. The stop point data substitutes the zone specifiedin the Zone parameter.ToolData type: tooldataThe tool in use during the movement.The position of the TCP and the load on the tool are defined in the tool data. TheTCP position is used to decide the velocity and the corner path for the movement.[ \WObj ] (Work Object) Data type: wobjdataThe work object used during the movement.This argument can be omitted if the tool is held by the robot. However, if therobot holds the work object, i.e. the tool is stationary, or with coordinated externalaxes, then the argument must be specified.In the case of a stationary tool or coordinated external axes, the data used by thesystem to decide the velocity and the corner path for the movement, is defined inthe work object.Program executionA movement with MoveAbsJ is not affected by active program displacement and ifexecuted with switch \NoEOffs, there will be no offset for external axes.Without switch \NoEOffs, the external axes in the destination target are affected byactive offset for external axes.The tool is moved to the destination absolute joint position with interpolation of theaxis angles. This means that each axis is moved with constant axis velocity and that allaxes reach the destination joint position at the same time, which results in a non-linearpath.Generally speaking, the TCP is moved at approximate programmed velocity. The toolis reoriented and the external axes are moved at the same time as the TCP moves. Ifthe programmed velocity for reorientation, or for the external axes, cannot be attained,the velocity of the TCP will be reduced.A corner path is usually generated when movement is transferred to the next section ofthe path. If a stop point is specified in the zone data, program execution only continueswhen the robot and external axes have reached the appropriate joint position.RAPID reference manual - part 1a, Instructions A-R 251