Joint motion

Command	Description
JTran	The JTran command can be used to move one joint of the robot a specified distance to a specified position. (Rotational joint: degrees; linear joint: mm) Speed and acceleration, as with point to point motion commands, are specified with Speed and Accel commands.
PTran	The PTran command can be used to move one joint of the robot to an encoder pulse position. (Pulse: integer units) Speed and acceleration, as with point to point motion commands, are specified with Speed and Accel commands.
Pulse	The Pulse command can be used to move all joints of the robot to encoder pulse positions. (Pulse: integer units) Speed and acceleration, as with point to point motion commands, are specified with Speed and Accel commands.
PG_Scan	The PG_Scan command can be used to rotate a pulse generator axis of a Joint-type single axis PG robot continuously in CW/CCW directions. (To rotate it continuously, you need to enable the continuous rotation parameter.) Speed and acceleration, as with point to point motion commands, are specified with Speed and Accel commands.