RAPID reference manual - Technology

MoveAbsJRobotWare-OSInstructionExamplesMoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;The tool, grip3, is moved along a non-linear path to an absolute joint positionstored in the instruction. The movement is carried out with data set to v2000 andz40. The velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.MoveAbsJ p5, v2000, fine \Inpos := inpos50, grip3;The tool, grip3, is moved along a non-linear path to an absolute joint position p5.The robot considers it to be in the point when 50% of the position condition and50% of the speed condition for a stop point fine are satisfied. It waits at most for2 seconds for the conditions to be satisfied. See predefined data inpos50 of datatype stoppointdata.MoveAbsJ \Conc, *, v2000, z40, grip3;The tool, grip3, is moved along a non-linear path to an absolute joint positionstored in the instruction. Subsequent logical instructions are executed while therobot moves.MoveAbsJ \Conc, * \NoEOffs, v2000, z40, grip3;Same movement as above but the movement is not affected by active offsets forexternal axes.GripLoad obj_mass;MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;The robot moves the work object obj in relation to the fixed tool grip3 along anon-linear path to an absolute axis position start.Error handlingWhen running the program, a check is made that the arguments Tool and \WObj do notcontain contradictory data with regard to a movable or a stationary tool respectively.LimitationsIn order to be able to run backwards with the instruction MoveAbsJ involved, andavoiding problems with singular points or ambiguous areas, it is essential that the subsequentinstructions fulfil certain requirements, as follows (see Figure 1).252 RAPID reference manual - part 1a, Instructions A-R