RAPID reference manual - Technology

InstructionMoveLRobotWare-OSMoveL - Moves the robot linearlyMoveL is used to move the tool centre point (TCP) linearly to a given destination.When the TCP is to remain stationary, this instruction can also be used to reorientatethe tool.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExampleMoveL p1, v1000, z30, tool2;The TCP of the tool, tool2, is moved linearly to the position p1, with speed datav1000 and zone data z30.MoveL *, v1000\T:=5, fine, grip3;The TCP of the tool, grip3, is moved linearly to a fine point stored in the instruction(marked with an *). The complete movement takes 5 seconds.ArgumentsMoveL[\Z][\Conc] ToPoint [\ID] Speed [\V] | [ \T] Zone[\Inpos] Tool [\WObj] [\Corr][ \Conc ] (Concurrent) Data type: switchSubsequent instructions are executed while the robot is moving. The argumentcan be used to avoid unwanted stops, caused by overloaded CPU, when usingfly-by points, and in this way shorten cycle time.This is useful when the programmedpoints are very close together at high speeds.The argument is also usefulwhen, for example, communicating with external equipment andsynchronisation between the external equipment and robot movement is notrequired.Using the argument \Conc, the number of movement instructions in successionis limited to 5. In a program section that includes StorePath-RestoPath, movementinstructions with the argument \Conc are not permitted.If this argument is omitted and the ToPoint is not a stop point, the subsequentinstruction is executed some time before the robot has reached the programmedzone.This argument can not be used in coordinated synchronized movement in a MultiMoveSystem.RAPID reference manual - part 1a, Instructions A-R 285