Linear motion

Linear motion commands move the tool center point of robot from its current position to a specified point in a straight line. Liner motion is a CP (Continuous Path) motion.

To set velocity (speed) for straight motion, use the SpeedS command. To set acceleration and deceleration, use the AccelS command.

Command	Description
Move	Move in a straight line to the specified point.
TMove	Move in a straight line to the specified point in a tool coordinate system.
Jump3CP	3D gate motion from the current position to the target position. The 3D gate motion consists of a depart motion, span motion, and approach motion. The robot moves from the current position to the depart point using linear interpolation while maintaining the orientation at the current position. The span motion from the depart point to the approach start position is a CP motion. The robot moves from the approach point to the target point using linear interpolation while maintaining the orientation at the target position.
BMove	Move in a straight line to the relative specified point in Base / Local coordinate system