MoveLin#

This command makes the robot move its end-effector, so that its TRF ends up at a target pose with respect to the WRF while the TCP moves along a linear path in Cartesian space, as illustrated in Figure 12b. If the target (desired) orientation of the TRF is different from the initial orientation, the orientation will be modified along the path using a minimum-torque path.

Syntax#

MoveLin(x,y,z,α,β,γ)

Arguments#

  • x, y, z: the target position for the TRF with respect to the WRF, in mm;

  • α, β, γ: Euler angles representing the target orientation of the TRF with respect to the WRF, in degrees.

Further details#

With this command, normally, the initial and final robot postures have to be in the same configuration, {cs, ce, cw}. Only in some very peculiar cases, where the path passes exactly through a shoulder or wrist singularity, and when the automatic posture configuration selection is enabled with SetAutoConf(1), a change in cs or cw, respectively, is possible (see Section 2.2.4).

If you specify a desired turn configuration, the MoveLin command will be executed only if the initial and final robot positions have the same turn configuration as the desired one.

If the complete motion cannot be performed due to singularities or joint limits, it will not even start, and an error will be generated. Similarly, the robot will not accept the MoveLin command if the required end-effector reorientation is exactly 180°, because there could be two possible paths.

Use the MoveLin command only when precise linear motion of the TCP is required. For most cases, moving the robot between positions is faster using the MoveJoints or MovePose commands.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1006][The robot is not homed.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the MoveLin command is represented by MotionCommandID 3. See Section 4.2 for more details.