RAPID reference manual - Technology

MoveCDORobotWare-OSInstructionid number gives a guarantee that the movements are not mixed up at runtime.SpeedData type: speeddataThe speed data that applies to movements. Speed data defines the velocity of theTCP, the tool reorientation and external axes.[ \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.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 world coordinatesystem. If, on the other hand, a stationary TCP or coordinated externalaxes are used, this argument must be specified in order for a circle relative to thework object to be executed.SignalData type: signaldoThe name of the digital output signal to be changed.ValueData type: dionumThe desired value of signal (0 or 1).Program executionSee the instruction MoveC for more information about circular movement.The digital output signal is set/reset in the middle of the corner path for flying points,as shown in Figure 17.262 RAPID reference manual - part 1a, Instructions A-R