MOVE and MOVES program instruction MOVE and MOVES program instruction Syntax MOVE location MOVES location Function Initiate a robot motion to the position and orientation described by the given location. Usage Considerations MOVE causes a joint-interpolated motion. MOVES causes a straight-line motion, during which no changes in configuration are permitted. These instructions can be executed by any program task as long as the task has attached a robot. The instructions apply to the robot selected by the task. If the eV+ system is not configured to control a robot, executing these instructions causes an error.
Parameter location Transformation, precision point, location function, or compound transformation that specifies the destination to which the robot is to move. Details The MOVE instruction causes a joint-interpolated motion. That is, intermediate set points between the initial and final robot locations are computed by interpolating between the initial and final joint positions. Any changes in configuration requested by the program (for example, by a LEFTY instruction) are executed during the motion. The MOVES instruction causes a straight-line motion. During such a motion the tool is moved along a straight-line path and is smoothly rotated to its final orientation.
No changes in configuration are allowed during straight-line motions. Examples MOVE #pick Move by joint-interpolated motion to the location described by the precision point #pick. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 344