Basic Characteristics RAPID

MoveJ Moves the robot by joint movement
Examples
Arguments
MoveJ is used to move the robot quickly from one point to another when that movement
does not have to be in a straight line.
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.
MoveJ p1, vmax, z30, tool2;
The tool centre point (TCP) of the tool, tool2, is moved along a non-linear path
to the position, p1, with speed data vmax and zone data z30.
MoveJ *, vmax \T:=5, fine, grip3;
The TCP of the tool, grip3, is moved along a non-linear path to a stop point
stored in the instruction (marked with an *). The entire movement takes 5 seconds.
MoveJ [ \Conc ] ToPoint 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.
ToPoint Data type: robtarget
The destination point 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.
RAPID Reference Manual 8-MoveJ-1