HMOVE

HMOVE pose variable, clamp number

Function

Moves the robot to the specified pose. The robot moves in hybrid motion: major axes in linear
interpolation, and the wrist joints in joint interpolation.

Parameter

Pose variable
Specifies the destination of the robot motion. (Can be in transformation values, compound
transformation values, joint displacement values or pose information functions.)

Clamp number
Specifies the clamp number to open or close at the destination pose. Positive number closes the
clamp, and negative number opens it. Any clamp number can be set up to the maximum
number set via HSETCLAMP command (or the auxiliary function 0605). If omitted, the clamp
does not open or close.

Explanation

This instruction moves the robot in linear interpolated motion. The origin of the tool
coordinates draws a linear trajectory. However, the wrist joints move in joint interpolation.
This instruction is used when the robot is to be moved in linear motion but the angles of the wrist
joints change greatly between the beginning and end of the motion