RAPID reference manual - Technology

InstructionMoveLRobotWare-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 tool or coordinated externalaxes are used, this argument must be specified in order to perform a linear movementrelative to the work object.[ \Corr ] (Correction) Data type: switchCorrection data written to a corrections entry by the instruction CorrWrite willbe added to the path and destination position, if this argument is present.Program executionThe robot and external units are moved to the destination position as follows:- The TCP of the tool is moved linearly at constant programmed velocity.- The tool is reoriented at equal intervals along the path.- Uncoordinated external axes are executed at a constant velocity in order forthem to arrive at the destination point at the same time as the robot axes.If it is not possible to attain the programmed velocity for the reorientation or for theexternal axes, the velocity of the TCP will be reduced.A corner path is usually generated when movement is transferred to the next section ofa 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.ExamplesMoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;The TCP of the tool, grip3, is moved linearly to a position stored in the instruction.The movement is carried out with data set to v2000 and z40. The velocityand zone size of the TCP are 2200 mm/s and 45 mm respectively.MoveL p5, v2000, fine \Inpos := inpos50, grip3;The TCP of the tool, grip3, is moved linearly to a stop point p5. The robot considersit to be in the point when 50% of the position condition and 50% of thespeed 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 type stoppointdata.RAPID reference manual - part 1a, Instructions A-R 287