Related information

Described in:

Other positioning instructions RAPID Summary - Motion Definition of velocity Data Types - speeddata Definition of zone data Data Types - zonedata Definition of tools Data Types - tooldata Definition of work objects Data Types - wobjdata

Motion in general Motion and I/O Principles

Coordinate systems Motion and I/O Principles - Coordinate Systems

Concurrent program execution Motion and I/O Principles - Synchronisation Using Logical Instructions

RAPID Reference Manual 8-MoveJ-1

MoveJ

Moves the robot by joint movement

MoveJ is used to move the robot quickly from one point to another when that move- ment 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.

Examples

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 sec- onds.

Arguments

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.

8-MoveJ-2 RAPID Reference Manual

[ \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.

[ \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 point.

[ \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 TCP or coordinated external axes are used, this argument must be specified.

Program execution

The tool centre point is moved to the destination point with interpolation of the axis angles. This means that each axis is moved with constant axis velocity and that all axes reach the destination point at the same time, which results in a non-linear path.

Generally speaking, the TCP is moved at the approximate programmed velocity (regardless of whether or not the external axes are coordinated). The tool is reoriented and the external axes are moved at the same time as the TCP moves. If the programmed velocity for reorientation, or for the external axes, cannot be attained, the velocity of the TCP will be reduced.

A corner path is usually generated when movement is transferred to the next section of the 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-MoveJ-3

Examples

MoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;

The TCP of the tool, grip3, is moved along a non-linear path to a position stored in the instruction. The movement is carried out with data set to v2000 and z40; the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.

MoveJ \Conc, *, v2000, z40, grip3;

The TCP of the tool, grip3, is moved along a non-linear path to a position stored in the instruction. Subsequent logical instructions are executed while the robot moves.

MoveJ start, v2000, z40, grip3 \WObj:=fixture;

The TCP of the tool, grip3, is moved along a non-linear path to a position, start. This position is specified in the object coordinate system for fixture.

Syntax

MoveJ

[ ’\’ Conc ’,’ ]

[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’ [ Speed ’:=’ ] < expression (IN) of speeddata >

[ ’\’ V ’:=’ < expression (IN) of num > ] | [ ’\’ T ’:=’ < expression (IN) of num > ] ’,’ [Zone ’:=’ ] < expression (IN) of zonedata >

[ ’\’ Z ‘:=’ < expression (IN) of num > ] ’,’ [ Tool ’:=’ ] < persistent (PERS) of tooldata >

[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’

Described in:

Coordinate Systems

Concurrent program execution Motion and I/O Principles -

RAPID Reference Manual 8-MoveL-1

MoveL

Moves the robot linearly

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.

Example

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 instruc- tion (marked with an *). The complete movement takes 5 seconds.

Arguments

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.

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.

8-MoveL-2 RAPID Reference Manual

[ \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

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.

Program execution

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.

RAPID Reference Manual 8-MoveL-3

Examples

MoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;

The TCP of the tool, grip3, is moved linearly to a position stored in the instruc- tion. The movement is carried out with data set to v2000 and z40; the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively.

MoveL \Conc, *, v2000, z40, grip3;

The TCP of the tool, grip3, is moved linearly to a position stored in the instruc- tion. Subsequent logical instructions are executed while the robot moves.

MoveL start, v2000, z40, grip3 \WObj:=fixture;

The TCP of the tool, grip3, is moved linearly to a position, start. This position is specified in the object coordinate system for fixture.

Syntax

MoveL

[ ’\’ Conc ’,’ ]

[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’ [ Speed ’:=’ ] < expression (IN) of speeddata >

[ ’\’ V ’:=’ < expression (IN) of num > ] | [ ’\’ T ’:=’ < expression (IN) of num > ] ’,’ [Zone ’:=’ ] < expression (IN) of zonedata >

[ ’\’ Z ’:=’ < expression (IN) of num > ] ’,’ [ Tool ’:=’ ] < persistent (PERS) of tooldata >

[ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’;’