# Specific MoveL instruction with API

**URL:** <https://tech-community.robotics.abb.com/t/specific-movel-instruction-with-api/1551>\
**Category:** Developer Tools\
**Created:** [November 26, 2007, 2:05pm UTC](https://tech-community.robotics.abb.com/t/specific-movel-instruction-with-api/1551 "2007-11-26T14:05:47Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![system](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/system/32/6_2.png) [@system](https://tech-community.robotics.abb.com/u/system)\
**Post date:** [November 26, 2007, 2:05pm UTC](https://tech-community.robotics.abb.com/t/specific-movel-instruction-with-api/1551/1 "2007-11-26T14:05:47Z")

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Hello,

I would like to create a MoveL instruction with non default values for speed and zone. It seems that i have to use RsProcessDefinition, RsInstructionTemplate, RsInstructionArgument and RsProcessTemplate, but the Example in the API does not really work, hence a small Example would be very nice. :stuck\_out\_tongue\_winking\_eye:

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<div class="post-metadata">

**Author:** ![system](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/system/32/6_2.png) [@system](https://tech-community.robotics.abb.com/u/system)\
**Post date:** [November 29, 2007, 1:24pm UTC](https://tech-community.robotics.abb.com/t/specific-movel-instruction-with-api/1551/2 "2007-11-29T13:24:56Z")

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Hi Joachim,

have found a solution to your problem? I have the same problem and the API just contains an example, in which a specific SearchL-Instruction is created.

Any help is appreciated.

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<div class="post-metadata">

**Author:** ![EngineeringStudent11](https://avatars.discourse-cdn.com/v4/letter/e/858c86/32.png) [@EngineeringStudent11](https://tech-community.robotics.abb.com/u/EngineeringStudent11)\
**Post date:** [June 22, 2015, 1:35pm UTC](https://tech-community.robotics.abb.com/t/specific-movel-instruction-with-api/1551/3 "2015-06-22T13:35:23Z")

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Hi everyone,

I have the same issue! Can somebody provide some help, how one can make a move instruction in the api and setting the parameters for speed and zone respectivly?

Grateful for any help.

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<div class="post-metadata">

**Author:** ![Henrik\_Berlin](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/henrik_berlin/32/1011_2.png) [@Henrik\_Berlin](https://tech-community.robotics.abb.com/u/Henrik_Berlin)\
**Post date:** [July 5, 2015, 8:50pm UTC](https://tech-community.robotics.abb.com/t/specific-movel-instruction-with-api/1551/4 "2015-07-05T20:50:19Z")

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Topic moved to Developer Center.

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<div class="post-metadata">

**Author:** ![apox](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/apox/32/2392_2.png) [@apox](https://tech-community.robotics.abb.com/u/apox)\
**Post date:** [October 15, 2015, 9:19am UTC](https://tech-community.robotics.abb.com/t/specific-movel-instruction-with-api/1551/5 "2015-10-15T09:19:27Z")

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Hi,  
how about this:

```auto

private const string DefaultSpeed = "v7000";
private const string DefaultZone = "z200";

var station = Station.ActiveStation;
var task = station.ActiveTask;
var moduleName = "MOD_" + _name;
var tool = task.ActiveTool;
var wobj = task.ActiveWorkObject;

// Create a PathProcedure.
var myPath = new RsPathProcedure(_name);

// Add the path to the ActiveTask.
task.PathProcedures.Add(myPath);
myPath.ModuleName = moduleName;
myPath.ShowName = true;
myPath.Synchronize = true;
myPath.Visible = true;

RsInstruction instruction;
instruction = new RsMoveInstruction(task, "Move", "Default", MotionType.Linear, wobj.Name, target.Name, tool.Name);

// -- SPEED --
var speed = instruction.InstructionArguments["Speed"];
speed.Value = DefaultSpeed;
speed.Enabled = true;

// -- ZONE --
var zone = instruction.InstructionArguments["Zone"];
zone.Value = DefaultZone;
zone.Enabled = true;

// Add it to myPath.
myPath.Instructions.Add(instruction);			

```

Kind regards