> For the complete documentation index, see [llms.txt](https://hyundai-robotics.gitbook.io/hi6-operation-manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://hyundai-robotics.gitbook.io/hi6-operation-manual/operation/step.md).

# 2.3 Step

A step refers to a specific posture (the position of each axis or the position of the tooltip) that is to be recorded in the job program and taken by the robot. In other words, a step is one position that the robot will reach through a movement.

The robot performs various functions while moving from one step to another. For movement from one step to another, a movement condition such as a move, which is a movement command, is required.

* It is the basic unit of robot programming. This is a command for the manipulator to move. It consists of minimum information that is necessary for the operation of the robot.
* Movement conditions: These are the step statement parameters such as robot position, interpolation, speed, accuracy, and tool number.