Select Program➔Move Linear Instruction to add a new linear movement instruction. Alternatively, select the corresponding button in the toolbar.

Unless a target is selected before adding the instruction, the movement instruction will create a new target and they will be linked. If the target is moved the movement is also modified.

Joint Moves and Linear Moves behave the same way and can be easily switched from one type to the other.

Same as with the Joint Move Instruction, if this is the first instruction that is added to a program, two more instructions will be added before the movement instruction: a Reference Frame selection and a Tool Frame selection.

Important: It is recommended to keep the first movement of each program as a Joint Move using a Joint target. This will properly set up the desired configuration from the first movement and make sure that the real robot is moving the same way it was simulated.

Contrary to Joint Movements, Linear Movements are sensitive to robot singularities and axis limits. For example, most robot arms can’t cross a singularity while performing a linear movement. The following image shows an example saying Joint 5 is too close to a singularity (0 degrees). Consider a Joint move instead.

Robot Programs - Image 7

If a linear move is not strictly necessary, right-click the movement instruction and change it to a Joint Move Instruction.

Robot Programs - Image 8

Alternatively, the target, the TCP or the position of the reference frame must be modified to avoid the singularity.