RAPID reference manual - Technology

InstructionMoveJRobotWare-OS[ \WObj ] (Work Object) Data type: wobjdataThe work object (coordinate system) to which the robot position in the instructionis 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.Program executionThe tool centre point is moved to the destination point with interpolation of the axisangles. This means that each axis is moved with constant axis velocity and that all axesreach the destination point at the same time, which results in a non-linear path.Generally speaking, the TCP is moved at the approximate programmed velocity(regardless of whether or not the external axes are coordinated). The tool is reorientedand the external axes are moved at the same time as the TCP moves. If the programmedvelocity for reorientation, or for the external axes, cannot be attained, the velocity ofthe TCP will be reduced.A corner path is usually generated when movement is transferred to the next section ofthe path. If a stop point is specified in the zone data, program execution only continueswhen the robot and external axes have reached the appropriate position.ExamplesMoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;The TCP of the tool, grip3, is moved along a non-linear path to a position storedin the instruction. The movement is carried out with data set to v2000 and z40;the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.MoveJ p5, v2000, fine \Inpos := inpos50, grip3;The TCP of the tool, grip3, is moved a non-linear path to a stop point p5. Therobot considers it to be in the point when 50% of the position condition and 50%of the speed condition for a stop point fine are satisfied. It waits at most for 2 secondsfor the conditions to be satisfied. See predefined data inpos50 of data typestoppointdata.MoveJ \Conc, *, v2000, z40, grip3;The TCP of the tool, grip3, is moved along a non-linear path to a position storedin the instruction. Subsequent logical instructions are executed while the robotmoves.RAPID reference manual - part 1a, Instructions A-R 275