14.4 Command: Move
Regular program variables: These are available to the running program only and their values are
lost as soon as the program is stopped.
Variable types:
bool A boolean variable whose value is either True or False.
int A whole number in the range from −2147483648 to 2147483647 (32 bit).
float A floating point number (decimal) (32 bit).
string A sequence of characters.
pose A vector describing the location and orientation in Cartesian space.
It is a combination of a position vector (x, y, z) and a rotation vec-
tor (rx, ry, rz) representing the orientation, written p[x, y, z, rx,
ry, rz].
list A sequence of variables.
14.4 Command: Move
The Move command controls the robot motion through the underlying waypoints. Waypoints
have to be under a Move command. The Move command defines the acceleration and the speed
at which the robot arm will move between those waypoints.
Movement Types
You can select one of three types of movements: MoveJ, MoveL and MoveP. Each movement
type is explained below.
• moveJ makes movements that are calculated in the robot arm joint space. Each joint is
controlled to reach the desired end location at the same time. This movement type results
in a curved path for the tool. The shared parameters that apply to this movement type
Version 3.11
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II-69 e-Series
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