Moving only one axis by RAPID

IRB120

Hi,

is it possible to move just one axis of the robot?

amindari

Hi 

yes use MoveabsJ command .for example this module moves axis one from 30 to -30 dgrees

CONST jointtarget jpos10:=[[-30,0,0,0, 0, 0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

  CONST jointtarget jpos20:=[[ 30, 0, 0, 0, 0, 0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC main()

  MoveAbsJ jpos10NoEOffs, v1000T:= 1, z50, tool0;

  WaitTime 2;

  MoveAbsJ jpos20NoEOffs, v1000T:= 1, z50, tool0;

  WaitTime 2;

ENDPROC

ENDMODULE