RAPID reference manual - Technology

MoveJRobotWare-OSInstructionThis argument can not be used in coordinated synchronized movement in a MultiMoveSystem.ToPointData type: robtargetThe destination point of the robot and external axes. It is defined as a named positionor stored directly in the instruction (marked with an * in the instruction).[ \ID (Synchronization id) Data type: identnoThis argument must be used in a MultiMove System, if coordinated synchronizedmovement, and is not allowed in any other cases.The specified id number must be the same in all cooperating program tasks. Theid 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 thetool centre point, the tool reorientation and external axes.[ \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 robotmoves. 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 movedto the specified destination point.274 RAPID reference manual - part 1a, Instructions A-R