# Softmove moving in direction other than chosen axis

**URL:** <https://tech-community.robotics.abb.com/t/softmove-moving-in-direction-other-than-chosen-axis/5708>\
**Category:** Robot Controller\
**Created:** [September 23, 2013, 8:07am UTC](https://tech-community.robotics.abb.com/t/softmove-moving-in-direction-other-than-chosen-axis/5708 "2013-09-23T08:07:02Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![D\_White](https://avatars.discourse-cdn.com/v4/letter/d/839c29/32.png) [@D\_White](https://tech-community.robotics.abb.com/u/D_White)\
**Post date:** [September 23, 2013, 8:07am UTC](https://tech-community.robotics.abb.com/t/softmove-moving-in-direction-other-than-chosen-axis/5708/1 "2013-09-23T08:07:02Z")

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I am programming with a tool that has a Z axis situated at approximately 30 deg from the vertical. I am using softmove to move through the z axis until a vacuum reading is good. My problem is that when I switch to the softmove “cssact”, the tool will jump slightly in the xy direction, which misaligns to the part. Is there some additional rapid statement needed to keep this from happening? According to the manual, the default coordinate is the Tool, which I do have loaded correctly.  
My code is below for what I am attempting to achieve. Any comments or suggestions would be helpful.

MoveL p\_puseal1, v300, fine, Tl\_205\_1;  
!activate softmove in z direction  
CSSAct CSS\_Z\Damping:=50\Stiffness:=1\AllowMove;  
MoveL Offs(p\_puseal1,0,0,-5), v200, fine, Tl\_205\_1;  
WaitDI DO\_GOODVAC1, 1;  
WaitTime .25;  
!Deactivate the softmove  
cssdeactMoveL p\_puseal1, v150, Tl\_205\_1;  
MoveL p\_seal\_scrape, v200, fine, Tl\_205\_1;

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**Author:** ![Kapten\_andersson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kapten_andersson/32/443_2.png) [@Kapten\_andersson](https://tech-community.robotics.abb.com/u/Kapten_andersson)\
**Post date:** [October 8, 2013, 11:32am UTC](https://tech-community.robotics.abb.com/t/softmove-moving-in-direction-other-than-chosen-axis/5708/2 "2013-10-08T11:32:05Z")

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What is the size of your robot? (Model)

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<div class="post-metadata">

**Author:** ![D\_White](https://avatars.discourse-cdn.com/v4/letter/d/839c29/32.png) [@D\_White](https://tech-community.robotics.abb.com/u/D_White)\
**Post date:** [October 8, 2013, 1:21pm UTC](https://tech-community.robotics.abb.com/t/softmove-moving-in-direction-other-than-chosen-axis/5708/3 "2013-10-08T13:21:23Z")

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Model IRB 140. Since this post, I added a -2 to the Offset in the Y direction and it appears to move in a more linear direction. When I manually moved the axis with this code, the jogging would show that it also move ~ 2 mm in the Y, which is why I used the correction.