# Movment single coordinate

**URL:** <https://tech-community.robotics.abb.com/t/movment-single-coordinate/6797>\
**Category:** Robot Controller\
**Created:** [September 14, 2015, 10:57am UTC](https://tech-community.robotics.abb.com/t/movment-single-coordinate/6797 "2015-09-14T10:57:13Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Patrizio](https://avatars.discourse-cdn.com/v4/letter/p/3bc359/32.png) [@Patrizio](https://tech-community.robotics.abb.com/u/Patrizio)\
**Post date:** [September 14, 2015, 10:57am UTC](https://tech-community.robotics.abb.com/t/movment-single-coordinate/6797/1 "2015-09-14T10:57:13Z")

</div>

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!