RAPID reference manual - Technology

InstructionMoveLDORobotWare-OSMoveLDO - Moves the robot linearly and sets digital outputin the cornerMoveLDO (Move Linearly Digital Output) is used to move the tool centre point (TCP)linearly to a given destination. The specified digital output signal is set/reset at the middleof the corner path.When the TCP is to remain stationary, this instruction can also be used to reorient thetool.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExampleMoveLDO p1, v1000, z30, tool2, do1,1;The TCP of the tool, tool2, is moved linearly to the position p1, with speed datav1000 and zone data z30. Output do1 is set in the middle of the corner path at p1.ArgumentsMoveLDOSignal ValueToPointToPoint [\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 for 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 robotmoves. It is then substituted for the corresponding speed data.RAPID reference manual - part 1a, Instructions A-R 291