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	Jump to a point in 3 dimensions using CP motion. Move in a straight line until the recede point. The motion between the recede points is also a straight line motion.
BMove	Move in a straight line to the relative specified point in Base / Local coordinate system