# \#movel **URL:** https://tech-community.robotics.abb.com/tag/movel/393.md [Latest](https://tech-community.robotics.abb.com/latest.md) · [Categories](https://tech-community.robotics.abb.com/categories.md) · [Tags](https://tech-community.robotics.abb.com/tags.md) --- ## [Linearmovement using MoveJ](https://tech-community.robotics.abb.com/t/linearmovement-using-movej/10919)
**Author:** [@setyowmv](https://tech-community.robotics.abb.com/u/setyowmv)\ **Replies:** 5\ **Last updated:** [November 4, 2022, 10:34pm UTC](https://tech-community.robotics.abb.com/t/linearmovement-using-movej/10919 "2022-11-04T22:34:49Z")
How to move in linear line when using different Robot Configurations on both Targets? I want to move from (X,Y,Z) 300,1000,620 to 300,1000,950, but because the Robot need 2 different configurations for both target I can… --- ## [General Question about Command MoveL and MoveC](https://tech-community.robotics.abb.com/t/general-question-about-command-movel-and-movec/10329)
**Author:** [@iamnotedible](https://tech-community.robotics.abb.com/u/iamnotedible)\ **Replies:** 1\ **Last updated:** [August 18, 2021, 3:16pm UTC](https://tech-community.robotics.abb.com/t/general-question-about-command-movel-and-movec/10329 "2021-08-18T15:16:21Z")
Robot commands MoveL and MoveC are to move end-effector in a linear and circular path respectively in Cartesian space, but what about orientation? Is it decomposed to axis-angle representation and does the interpolation … --- ## [Change of Orientation of the TCP on using SearchL along the path](https://tech-community.robotics.abb.com/t/change-of-orientation-of-the-tcp-on-using-searchl-along-the-path/8951)
**Author:** [@soumith0602](https://tech-community.robotics.abb.com/u/soumith0602)\ **Replies:** 7\ **Last updated:** [July 9, 2019, 5:39am UTC](https://tech-community.robotics.abb.com/t/change-of-orientation-of-the-tcp-on-using-searchl-along-the-path/8951 "2019-07-09T05:39:49Z")
We are working on the Yumi robot with a yumipy library developed on python. The library uses MoveL and SearchL commands to move linearly from the starting position to the To position. As we have observed, the orientatio… --- ## [How can I stop/interrupt single MoveL instruction based on some conditions during its execution?](https://tech-community.robotics.abb.com/t/how-can-i-stop-interrupt-single-movel-instruction-based-on-some-conditions-during-its-execution/7545)
**Author:** [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\ **Replies:** 2\ **Last updated:** [January 30, 2017, 6:21am UTC](https://tech-community.robotics.abb.com/t/how-can-i-stop-interrupt-single-movel-instruction-based-on-some-conditions-during-its-execution/7545 "2017-01-30T06:21:39Z")
I found in Technical Reference RAPID overview that there was a way to interrupt during more than two MoveL instructions by using “TriggXXX” instruction. However, it didn’t say anything about how to interrupt during singl… --- ## [MoveL blocking and way to run MoveL asynchronously](https://tech-community.robotics.abb.com/t/movel-blocking-and-way-to-run-movel-asynchronously/7544)
**Author:** [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\ **Replies:** 0\ **Last updated:** [January 26, 2017, 6:58am UTC](https://tech-community.robotics.abb.com/t/movel-blocking-and-way-to-run-movel-asynchronously/7544 "2017-01-26T06:58:32Z")
Hi, I’m building software on the remote PC that sends instructions (such as MoveL) to the controller. I’m running open\_abb’s server code written in RAPID (https://github.com/robotics/open\_abb/blob/fuerte-devel/RAPID/SERV… --- ## [SingArea help](https://tech-community.robotics.abb.com/t/singarea-help/7164)
**Author:** [@SteveMob](https://tech-community.robotics.abb.com/u/SteveMob)\ **Replies:** 3\ **Last updated:** [May 18, 2016, 1:32pm UTC](https://tech-community.robotics.abb.com/t/singarea-help/7164 "2016-05-18T13:32:05Z")
Hello, I am using CJointT and CalcJointT to check for singularity issues for the robot either in its current position, or the target it is about to move to. I am checking for if Axis 5 is 0, then SingArea\\Wrist. The pro… --- ## [Avoiding Singularity](https://tech-community.robotics.abb.com/t/avoiding-singularity/7079)
**Author:** [@SteveMob](https://tech-community.robotics.abb.com/u/SteveMob)\ **Replies:** 2\ **Last updated:** [April 4, 2016, 4:20pm UTC](https://tech-community.robotics.abb.com/t/avoiding-singularity/7079 "2016-04-04T16:20:19Z")
Hello, I have a question regarding singularity issues. If I have a Linear Movement and at some point during that movement, the robot runs into singularity, is there a way to essentially tell the robot to deviate from th…