Basic Characteristics RAPID

MoveAbsJMoves the robot to an absolute joint position
Examples
Arguments
MoveAbsJ (Move Absolute Joint) is used to move the robot to an absolute position,
defined in axes positions.
This instruction need only be used when:
- the end point is a singular point
- for ambiguous positions on the IRB 6400C, e.g. for movements with the tool
over the robot.
The final position of the robot, during a movement with MoveAbsJ, is neither affected
by the given tool and work object, nor by active program displacement. However, the
robot uses these data to calculating the load, TCP velocity, and the corner path. The
same tools can be used as in adjacent movement instructions.
The robot and external axes move to the destination position along a non-linear path.
All axes reach the destination position at the same time.
MoveAbsJ p50, v1000, z50, tool2;
The robot with the tool tool2 is moved along a non-linear path to the absolute
axis position, p50, with velocity data v1000 and zone data z50.
MoveAbsJ *, v1000\T:=5, fine, grip3;
The robot with the tool grip3, is moved along a non-linear path to a stop point
which is stored as an absolute axis position in the instruction (marked with an *).
The entire movement takes 5 s.
MoveAbsJ [ \Conc ] ToJointPos Speed [ \V ] | [ \T ] Zone [ \Z ]
Tool [ \WObj ]
[ \Conc ] (Concurrent) Data type: switch
Subsequent logical instructions are executed while the robot is moving. The
argument is used to shorten the cycle time when, for example, communicating
with external equipment, if synchronisation is not required.
Using the argument \Conc, the number of movement instructions in succession
is limited to 5. In a program section that includes StorePath-RestoPath, movement
instructions with the argument \Conc are not permitted.
If this argument is omitted, the subsequent instruction is only executed after the
robot has reached the specified zone.
RAPID Reference Manual 8-MoveAbsJ-1