RAPID code generator | external axis

jf___

Hi,

I'm working on a RAPID code generator.

I'm taking a number of shortcuts; there's no interest for me to compete with the Path Tools -> Auto config tools. These allow me to forget about computing the joint config's, in case I need to chance these, I can easily do so in RBS. So far so good.

Now, I'm trying to extent the generator to use a linear track.

However, I'm not eager to write the external axis positions explicitly; I'd like to take care of computing the position + quaternion, but not get into the kinematics of things. 

So, my question is, can I have RBS solve / optimize the position of the linear track for me?

That would be wild!

Thanks,

-jf