Basic Characteristics RAPID

ToJointPos (To Joint Position) Data type: jointtarget
The destination absolute joint position of the robot and external axes. It is defined
as a named position or stored directly in the instruction (marked with an * in the
instruction).
Speed Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the tool reorientation and external axes.
[ \V ] (Velocity) Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the
instruction. It is then substituted for the corresponding velocity specified in the
speed data.
[ \T ] (Time) Data type: num
This argument is used to specify the total time in seconds during which the robot
moves. It is then substituted for the corresponding speed data.
Zone Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner
path.
[ \Z ] (Zone) Data type: num
This argument is used to specify the position accuracy of the robot TCP directly
in the instruction. The length of the corner path is given in mm, which is substituted
for the corresponding zone specified in the zone data.
Tool Data type: tooldata
The tool in use during the movement.
The position of the TCP and the load on the tool are defined in the tool data. The
TCP position is used to decide the velocity and the corner path for the movement.
[ \WObj] (Work Object) Data type: wobjdata
The work object used during the movement.
This argument can be omitted if the tool is held by the robot. However, if the
robot holds the work object, i.e. the tool is stationary, or with coordinated external
axes, then the argument must be specified.
In the case of a stationary tool or coordinated external axes, the data used by the
system to decide the velocity and the corner path for the movement, is defined in
the work object.
8-MoveAbsJ-2 RAPID Reference Manual