Basic Characteristics RAPID

Program execution
Examples
Error handling
Limitations
The tool is moved to the destination absolute joint position with interpolation of the
axis angles. This means that each axis is moved with constant axis velocity and that all
axes reach the destination joint position at the same time, which results in a non-linear
path.
Generally speaking, the TCP is moved at approximate programmed velocity. The tool
is reoriented and the external axes are moved at the same time as the TCP moves. If
the programmed velocity for reorientation, or for the external axes, cannot be attained,
the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of
the path. If a stop point is specified in the zone data, program execution only continues
when the robot and external axes have reached the appropriate joint position.
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The tool, grip3, is moved along a non-linear path to a absolute joint position
stored in the instruction. The movement is carried out with data set to v2000 and
z40, the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.
MoveAbsJ \Conc, *, v2000, z40, grip3;
The tool, grip3, is moved along a non-linear path to a absolute joint position
stored in the instruction. Subsequent logical instructions are executed while the
robot moves.
GripLoad obj_mass;
MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;
The robot moves the work object obj in relation to the fixed tool grip3 along a
non-linear path to an absolute axis position start.
When running the program, a check is made that the arguments Tool and \WObj do not
contain contradictory data with regard to a movable or a stationary tool respectively.
A movement with MoveAbsJ is not affected by active program displacement, but is
affected by active offset for external axes.
In order to be able to run backwards with the instruction MoveAbsJ involved, and
RAPID Reference Manual 8-MoveAbsJ-3