DRIVE

DRIVE joint number, displacement, speed

Function

Moves a single joint of the robot 

Parameter

Joint number
Specifies the joint number to move. (In a six-joint robot, the joints are numbered 1 to 6, starting
from the joint furthest from the tool mounting flange.)

Displacement
Specifies the amount to move the joint, as either a positive or negative value

The unit for this value is the same as the value that describes the pose of the joint; i.e. if the joint
is a rotational joint, the value is expressed in degrees (), and if the joint is a slide joint, the value
is expressed in distance (mm).

Speed
Specifies the speed for this motion. As in regular program speed, it is expressed as a percentage
of the monitor speed. If not specified, 100% of the monitor speed is assumed

Explanation

This instruction moves only one specified joint 

The motion speed for this instruction is combination of the speed specified in this instruction and
the monitor speed. The program speed set in the program does not affect this instruction

Example

DRIVE 2,-10,75 //Moves joint 2 (JT2) -10° from the current pose. The speed is 75% of the monitor speed.