To program the axis movements for a robot, you first need to create an axis group below the application in your project. For more information about this, see: Creating an Axis Group.
You configure the created axis group with the desired kinematics. You insert real or virtual axes below the device and link these axes to the axis group. See the help pages in Axis group and Kinematics:
How to create a program for the axis control after creating and configuring the axes is shown here as an example: Creating a Program for Controlling the Axis Group
For information about how to implement the various motion control demands, see the additional help pages in Motion Control.
Background information for understanding how specific movements are performed can be found here:
For advanced users: