Basic Characteristics RAPID

[ \WObj] (Work Object) Data type: wobjdata
Program execution
The work object (object coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted, and if it is, the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used, this argument must be specified in order for a circle relative to
the work object to be executed.
The robot and external units are moved to the destination point as follows:
- The TCP of the tool is moved circularly at constant programmed velocity.
- The tool is reoriented at a constant velocity from the orientation at the start position
to the orientation at the destination point.
- The reorientation is performed relative to the circular path. Thus, if the orientation
relative to the path is the same at the start and the destination points, the
relative orientation remains unchanged during the movement (see Figure 2).
.
Tool orientation
Start point
Figure 2 Tool orientation during circular movement.
CirPoint
ToPoint
- The orientation at the circle point is not critical; it is only used to distinguish
between two possible directions of reorientation. The accuracy of the reorientation
along the path depends only on the orientation at the start and destination
points.
- Uncoordinated external axes are executed at constant velocity in order for them
to arrive at the destination point at the same time as the robot axes. The position
in the circle position is not used.
If it is not possible to attain the programmed velocity for the reorientation or for the
external axes, the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of
a 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 position.
RAPID Reference Manual 8-MoveC-3