RAPID reference manual - Technology

InstructionMoveExtJRobotWare-OSMoveExtJ - Move one or several mechanical units withoutTCPMoveExtJ (Move External Joints) is used to move only linear or rotating external axes.The external axes can belong to one or several mechanical units without TCP.This instruction can only be used:- with actual program task defined as a Motion Task and- if the task controls one or several mechanical units without TCP andExamplesMoveExtJ jpos10, vrot10, z50;Move rotational external axes to joint position jpos10 with speed 10 degrees/swith zone data z50.MoveExtJ \Conc, jpos20, vrot10 \T:=5, fine \InPos:=inpos20;Move external axes to joint position jpos20 in 5 s.The program execution goesforward at once but the external axes stops in the position jpos20 until the convergencecriteria in inpos20 are fulfilled.ArgumentsMoveExtj [\Conc] ToJointPos [\ID] Speed [\T] Zone [\Inpos][ \Conc ] (Concurrent) Data type: switchSubsequent instructions are executed while the external axis is moving. Theargument can be used to avoid unwanted stops, caused by overloaded CPU,when using fly-by points, and in this way shorten cycle time.This is useful whenthe programmed points are very close together at high speeds.The argument isalso useful when, for example, communicating with external equipment and synchronisationbetween the external equipment and robot movement is notrequired.Using the argument \Conc, the number of movement instructions in successionis limited to 5. In a program section that includes StorePath-RestoPath, movementinstructions with the argument \Conc are not permitted.RAPID reference manual - part 1a, Instructions A-R 269