RAPID reference manual - Technology

InstructionMoveJSyncFixed Position EventsMoveJSync - Moves the robot by joint movement and executesa RAPID procedureMoveJSync (Move Joint Synchronously) is used to move the robot quickly from onepoint to another when that movement does not have to be in a straight line. The specifiedRAPID procedure is executed at the middle of the corner path in the destinationpoint.The robot and external axes move to the destination position along a non-linear path.All axes reach the destination position at the same time.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesMoveJSync p1, vmax, z30, tool2, “proc1”;The tool centre point (TCP) of the tool, tool2, is moved along a non-linear pathto the position, p1, with speed data vmax and zone data z30. Procedure proc1 isexecuted in the middle of the corner path at p1.ArgumentsMoveJSyncProcNameToPointToPoint [\ID] Speed [\T] Zone Tool [\WObj]Data type: robtargetThe destination point of the robot and external axes. It is defined as a namedposition or 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.[ \T ] (Time) Data type: numThis argument is used to specify the total time in seconds during which the robotRAPID reference manual - part 1a, Instructions A-R 281