Basic Characteristics RAPID

MoveL Moves the robot linearly
Example
Arguments
MoveL is used to move the tool centre point (TCP) linearly to a given destination.
When the TCP is to remain stationary, this instruction can also be used to reorient the
tool.
MoveL p1, v1000, z30, tool2;
The TCP of the tool, tool2, is moved linearly to the position p1, with speed data
v1000 and zone data z30.
MoveL *, v1000\T:=5, fine, grip3;
The TCP of the tool, grip3, is moved linearly to a fine point stored in the instruction
(marked with an *). The complete movement takes 5 seconds.
MoveL [ \Conc ] ToPoint Speed [ \V ] | [ \T ] Zone [ \Z ] Tool
[ \WObj ]
[ \Conc ] (Concurrent) Data type: switch
Subsequent logical instructions are executed while the robot is moving. This
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 for 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.
RAPID Reference Manual 8-MoveL-1