JMOVE / LMOVE

JMOVE pose variable, clamp number
LMOVE pose variable, clamp number

Function

Moves the robot to the specified pose.
JMOVE: Moves in joint interpolated motion.
LMOVE: Moves in linear interpolated motion

Parameter

Pose variable
Specifies the destination pose of the robot. (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 auxiliary function 0605). If omitted, the clamp
does not open or close.

Explanation

The robot moves in joint interpolated motion when JMOVE instruction is executed. The robot
moves so that the ratios of distance traveled to the total distance are equal at all joints throughout
the movement from the starting pose to the end pose.

The robot moves in linear interpolated motion when LMOVE instruction is executed. The
origin of the tool coordinates (TCP) moves along a linear trajectory.

Example

JMOVE #pick      // Moves to pose described by joint displacement values “#pick” in joint interpolated motion.
LMOVE ref+place  /* Moves to the pose described by the compound transformation values“ref + place” in linear
  interpolated motion.*/
LMOVE #pick,1    /* Moves to the pose described by joint displacement values “#pick” in linear interpolated
  motion. Upon reaching the pose, clamp 1 is closed.*/