RAPID reference manual - Technology

MoveLSyncFixed Position EventsZoneData type: zonedataInstructionZone 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 position.[ \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 MoveL for more information about linear movements.The specified RAPID procedure is executed when the TCP reaches the middle of thecorner path in the destination point of the MoveLSync instruction, as shown in Figure22:MoveLSync p2, v1000, z30, tool2, “my_proc”;When TCP is here,my_proc is executedp1p2p3ZoneFigure 22 Execution of user-defined RAPID procedure in the middle of the corner path.For stop points, we recommend the use of “normal” programming sequence withMoveL + other RAPID instructions in sequence.296 RAPID reference manual - part 1a, Instructions A-R