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Description

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For RAPID programming, RobotStudio’s main advantage is in the area of motion
programming.
A move instruction is an instruction for the robot to move to a specified target in a specified
manner. With RobotStudio, you can create move instructions in three ways:
In addition to move instructions, you can also create and insert action instructions from
RobotStudio. An action instruction is an instruction other than a move instruction that can,
for example, set parameters, or activate or deactivate equipment and functions. The action
instructions available in RobotStudio are limited to those commonly used for affecting the
robot’s motions. For inserting other action instructions or another kind of RAPID code in the
program, use the Program Editor. For a procedure, see Action Instruction on page 221.
The table below lists the action instructions that can be created. For details, see the RAPID
Reference Manual.
Method Description
Create a move instruction
based on an existing target
Creates move instructions based on one or several targets
selected in the Paths&Targets browser. For a procedure, see
Add to Path on page 375.
Create a move instruction
and a corresponding target
Creates a move instruction and a corresponding target at
once. The position of the target can either be selected from the
graphics window or typed numerically. For a procedure, see
Move Instruction on page 220.
Teach a move instruction Teaching a move instruction creates a move instruction and a
corresponding target at the robot’s current position. Teaching
a move instruction also stores the current configuration with
the target. For a procedure, see Teach Instruction on page
219.
Action instruction Description
ConfL On/Off ConfL specifies whether to monitor the robot’s configurations
during linear movements. When ConfL is set to Off, the robot
may use another configuration than the programed one for
reaching the target during program execution.
ConfJ On/Off ConfJ specifies whether to monitor the robot’s configurations
during joint movements. When ConfJ is set to Off, the robot may
use another configuration than the programed one for reaching
the target during program execution.
Actunit UnitName Actunit activates the mechanical unit specified by UnitName.
DeactUnit UnitName Deactunit deactivates the mechanical unit specified by
UnitName.
ConfJ On/Off ConfJ specifies whether to monitor the robot’s configurations
during joint movements. When ConfJ is set to Off, the robot may
use another configuration than the programed one for reaching
the target during program execution.
Actunit UnitName Actunit activates the mechanical unit specified by UnitName.
DeactUnit UnitName Deactunit deactivates the mechanical unit specified by
UnitName