RAPID reference manual - Technology

InstructionMoveCRobotWare-OS[ \V ] (Velocity) Data type: numThis argument is used to specify the velocity of the TCP in mm/s directly in theinstruction. It is then substituted for the corresponding velocity specified in thespeed data.[ \T ] (Time) Data type: numThis argument is used to specify the total time in seconds during which the robotand external axes move. It is then substituted for the corresponding speed data.ZoneData type: zonedataZone data for the movement. Zone data describes the size of the generated cornerpath.[ \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 therobot’s TCP in the stop point. The stop point data substitutes the zone specifiedin the Zone parameter.ToolData type: tooldataThe tool in use when the robot moves. The tool centre point is the point that ismoved to the specified destination point.[ \WObj ] (Work Object) Data type: wobjdataThe work object (object coordinate system) to which the robot position in theinstruction is related.This argument can be omitted, and if it is, the position is related to the worldcoordinate system. If, on the other hand, a stationary TCP or coordinated externalaxes are used, this argument must be specified in order for a circle relative tothe work object to be executed.[ \Corr ] (Correction) Data type: switchCorrection data written to a corrections entry by the instruction CorrWrite willbe added to the path and destination position, if this argument is present.RAPID reference manual - part 1a, Instructions A-R 257