DRAW/TDRAW

DRAW  X translation, Y translation, Z translation, X rotation, Y rotation, Z rotation, speed
TDRAW X translation, Y translation, Z translation, X rotation, Y rotation, Z rotation, speed

Function

Moves the robot in linear movement from the current pose and at the specified speed, the distance
specified in the direction of the X, Y, Z axes and rotates the specified amount around each axis.
DRAW instruction moves the robot based on the base coordinates, TDRAW instruction moves
the robot based on the tool coordinates.

Parameter

X/Y/Z translation
Specifies the amount to move on the X axis in mm. If not specified, 0 mm is entered.

X/Y/Z rotation
Specifies the amount to rotate around the X axis in deg. Acceptable range is less than ±180°.
If not specified, 0 deg is entered.

Speed
Specifies the speed in %, mm/s, mm/min, cm/min, or s. If not specified, the robot moves at the
program speed

Explanation

The robot moves from the current pose to the specified pose in linear movement 

Example

DRAW 50,,-30 //Moves from the current pose in linear motion 50 mm in the direction of the X axis 
            //and –30 mm in the direction of the Z axis of the base coordinates