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Movment single coordinate

Patrizio
Patrizio ✭
in Robot Controller
Hello, in RAPID is possible to create a function to perform a movement of a single coordinated interpolated at the last movment? For example MoveL pPoint, vmax, z100, tGrip; MoveL Move_XYZ (0,0,300), Vmax, z100, tGrip; where the function Move_XYZ is the following: FUNC robtarget Move_XYZ (num PosX, PosY num, num PosZ) VAR robtarget PosXYZ; PosXYZ: = CRobT (); IF (PosX <> 0) THEN PosXYZ.trans.x: = PosX; ENDIF IF (PosY <> 0) THEN PosXYZ.trans.y: = PosY; ENDIF IF (PosZ <> 0) THEN PosXYZ.trans.z: = PosZ; ENDIF RETURN PosXYZ; ENDFUNC I have the need that the movement derived from the function is interpolated to the previous movment but that the coordinates of the robot used to perform the function are those of arrival of pPoint. How can I do. Thank you!

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