RAPID reference manual - Technology

InstructionPathRecMoveFwdPath RecoveryPathRecMoveFwd - Move path recorder forwardPathRecMoveFwd is used to move the robot back to the position where PathRecMove-Bwd was executed. It is also possible to move the robot partly forward by supplying anidentifier that has been passed during the backward movement.ExamplePathRecMoveFwd;The robot is moved back to the position where the path recorder started the backwardmovement.ArgumentsPathRecMoveFwd [\ID] [\ToolOffs] [\Speed] [\ID] (Identifier) Data type: pathrecidVariable that specify the position to move forward to. Data type pathrecid is anon-value type, only used as an identifier for naming the recording position.[\ToolOffs] (Tool Offset) Data type: posProvides clearance offset for TCP during motion. A cartesian coordinate isapplied to the TCP coordinates. This is useful when the robot runs a process addingmaterial.[\Speed]Data type: speeddataSpeed overrides the speed original used during forward motion. Speeddatadefines the velocity for the tool centre point, the tool reorientation and the externalaxis. If present, this speed will be used throughout the forward movement. Ifomitted, the forward motion will execute with the speedin the original motioninstructions.Program executionThe path recorder is activated with the PathRecStart instruction. After the recorder hasbeen started the robot can be moved backwards along its executed path by executingPathRecMoveBwd. The robot can thereafter be ordered back to the position where thebackward execution started by calling PathRecMoveFwd. It is also possible to movethe robot partly forward by supplying an identifier that has been passed during thebackward movement.RAPID reference manual - part 1a, Instructions A-R 331