Basic Characteristics RAPID

Tool Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[ \WObj] (Work Object) Data type: wobjdata
Program execution
The work object (coordinate system) to which the instruction’s robot position is
referenced.
When this argument is omitted, the robot position is referenced to the world
coordinate system. It must, however, be specified if a stationary TCP or coordinated
external axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
Controlling process equipment
Motion
Limitations
The process equipment is controlled by the robot in such a way that the entire process
and each of its phases are coordinated with the robot’s movements.
Robot and external axes are moved to the destination position as follows:
- The TCP of the tool is moved circularly at a constant programmed speed. When
coordinated axes are used, they are moved circularly at constant programmed
speed relative to the work object.
- The tool is reorientated at even intervals throughout the entire course.
- Uncoordinated external axes are executed at a constant speed which means that
they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the external axes is exceeded, these
speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to:
- the specified object coordinate system if the argument \WObj is used;
- the world coordinate system if the argument \WObj is not used.
When weaving, the distance between the programmed positions should be longer than
the periodic time of weaving. If the distance is shorter and if there is a significant
RAPID Reference Manual 13-ArcC-5