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Chapter 9 Programming
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9.7 Move command
The command is used to move the robot arm by designating the destination and the
movement method.
Selecting a movement method
There are three ways to move as follows and you can set the tool speed and acceleration
for each method.

Linear
: A tool moves linearly between the starting point and the end point. To make the
tool movement path a straight line, each joint tends to move in a more complex way.
-
Frame
: Select whether to move by TCP or Flange.
-
Reference coordinate system
: Select the reference coordinate system on which
the robot moves when executing the move command.
-
Speed
: 0.1 mm/s ~ 1000 mm/s
- Accel.
(Acceleration): 0.1 mm/s 2 ~ 2500 mm/s 2
-
Don’t stop at this point
: This is a setting that allows you to move at a constant
speed without stopping operation between move commands. For details, refer to Move
without stopping.

Joint
: The tool movement path between the starting point and the end point is ignored
but the movement of joint is minimized, instead.
- Speed
: 0.1 deg/s ~ 180 deg/s
-
Accel.
(Acceleration): 0.1 deg/s
2
~ 360 deg/s
2