RAPID reference manual - Technology

InstructionMoveJSyncFixed Position EventsFigure 20 Execution of user-defined RAPID procedure in the middle of the corner path.For stop points, we recommend the use of “normal” programming sequence withMoveJ + other RAPID instructions in sequence.Execution of the specified RAPID procedure in different execution modes:Execution mode:Continuously or CycleForward stepBackward stepExecution of RAPID procedure:According to this descriptionIn the stop pointNot at allLimitationSwitching execution mode after program stop from continuously or cycle to stepwiseforward or backward results in an error. This error tells the user that the mode switchcan result in missed execution of a RAPID procedure in the queue for execution on thepath. This error can be avoided if the program is stopped with StopInstr before themode switch.Instruction MoveJSync cannot be used on TRAP level.The specified RAPID procedure cannot be tested with stepwise execution.SyntaxMoveJSync[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’[ Speed ’:=’ ] < expression (IN) of speeddata >[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’[ Zone ’:=’ ] < expression (IN) of zonedata >[ ’\’ Z ‘:=’ < expression (IN) of num > ] ’,’[ Tool ’:=’ ] < persistent (PERS) of tooldata >[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’,’[ ProcName‘:=’ ] < expression (IN) of string > ] ’;’RAPID reference manual - part 1a, Instructions A-R 283