5.2.3.1 move

move (port) (axis) (position) {(time) | #f} [(speed)]

This procedure performs a basic movement of one axis to a new absolute position, with given time of completion and/or speed (if specified).

• axis can be numerical corresponding to one of the robot’s axes, a string spelling a symbol name, or a symbol directly from the following list: ’base, ’shoulder, ’elbow, ’wrist, ’wrist-rotate, or ’grip.
• position is the absolute position to move the axis to, in microsteps.
• time is the time in milliseconds to complete the move. This may be #f to leave the value unspecified, and the motion will take place entirely according to the speed parameter. It is generally a good idea to use the time setting, so you know exactly what you are going to get.
• speed is an optional argument and specifies the maximum speed of movement in microsecond pulse width change per second. If not specified a reasonable default value will be used (750 µs/s).