RAPID reference manual - Technology

InstructionMoveExtJRobotWare-OSExamplesCONST jointtarget j1 := [[9E9,9E9,9E9,9E9,9E9,9E9],[0,9E9,9E9,9E9,9E9,9E9]];CONST jointtarget j2 := [[9E9,9E9,9E9,9E9,9E9,9E9],[30,9E9,9E9,9E9,9E9,9E9]];CONST jointtarget j3 := [[9E9,9E9,9E9,9E9,9E9,9E9],[60,9E9,9E9,9E9,9E9,9E9]];CONST jointtarget j4 := [[9E9,9E9,9E9,9E9,9E9,9E9],[90,9E9,9E9,9E9,9E9,9E9]];CONST speeddata rot_ax_speed := [0, 0, 0, 45];MoveExtJ j1, rot_ax_speed, fine;MoveExtJ j2, rot_ax_speed, z20;MoveExtJ j3, rot_ax_speed, z20;MoveExtJ j4, rot_ax_speed, fine;In this example the rotating single axis is moved to joint position 0, 30, 60 and90 degrees with the speed of 45 degrees/s.SyntaxMoveExtJ [ ’\’ Conc ’,’ ][ ToJointPos ’:=’ ] < expression (IN) of jointtarget > [ ’\’ ID ’:=’ < expression (IN) of identno >]’,’[ Speed ’:=’ ] < expression (IN) of speeddata >[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’[Zone ’:=’ ] < expression (IN) of zonedata >[ ’\’ Inpos ’:=’ < expression (IN) of stoppointdata >]‘;’Related informationDescribed in:Other positioning instructionsDefinition of jointtargetDefinition of velocityDefinition of zone dataMotion in generalRAPID Summary - MotionData Types - jointtargetData Types - speeddataData Types - zonedataMotion and I/O PrinciplesConcurrent program execution.Motion and I/O Principles - Synchronisation Using LogicalInstructionsRAPID reference manual - part 1a, Instructions A-R 271