RAPID reference manual - Technology

MoveJSyncFixed Position EventsInstructionmoves. 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.ToolData type: tooldataThe tool in use when the robot moves. The tool centre point is the point movedto the specified destination point.[ \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 world coordinatesystem. If, on the other hand, a stationary TCP or coordinated externalaxes are used, this argument must be specified.ProcName (Procedure Name) Data type: stringName of the RAPID procedure to be executed at the middle of the corner path inthe destination point.Program executionSee the instruction MoveJ for more information about joint movements.The specified RAPID procedure is executed when the TCP reaches the middle of thecorner path in the destination point of the MoveJSync instruction, as shown in Figure20:MoveJSync p2, v1000, z30, tool2, “my_proc”;When TCP is here,my_proc is executedp1p2p3Zone282 RAPID reference manual - part 1a, Instructions A-R