Basic Characteristics RAPID

Program execution
[ \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 when the robot moves. The tool centre point is the point moved
to the specified destination position.
[ \WObj] (Work Object) Data type: wobjdata
The work 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 tool or coordinated external axes
are used, this argument must be specified in order to perform a linear movement
relative to the work object.
The robot and external units are moved to the destination position as follows:
- The TCP of the tool is moved linearly at constant programmed velocity.
- The tool is reoriented at equal intervals along the path.
- Uncoordinated external axes are executed at a constant velocity in order for
them to arrive at the destination point at the same time as the robot axes.
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.
8-MoveL-2 RAPID Reference Manual