# \#reference

**URL:** https://tech-community.robotics.abb.com/tag/reference/647.md

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## [Use FCRefLine in an non-oscillating way](https://tech-community.robotics.abb.com/t/use-fcrefline-in-an-non-oscillating-way/9781)

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**Author:** [@FlorianAumann](https://tech-community.robotics.abb.com/u/FlorianAumann)\
**Replies:** 3\
**Last updated:** [November 3, 2020, 1:06pm UTC](https://tech-community.robotics.abb.com/t/use-fcrefline-in-an-non-oscillating-way/9781 "2020-11-03T13:06:46Z")

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Hello everyone! For a project, we’d like to make the robot move along a straight line in Z-Direction while reacting to forces in the X and Y directions. We can do this using a FCRefLine in FC\_LIN\_Z and a FCRefForce \\Fx:…

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## [Home movement of robots](https://tech-community.robotics.abb.com/t/home-movement-of-robots/8314)

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**Author:** [@VictorAx](https://tech-community.robotics.abb.com/u/VictorAx)\
**Replies:** 11\
**Last updated:** [June 20, 2018, 7:20pm UTC](https://tech-community.robotics.abb.com/t/home-movement-of-robots/8314 "2018-06-20T19:20:46Z")

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Hello, we’re working on a big project where we want our robots to be able to get to their home position in a safe way. The robots have about three movement procedures each, and a few of them are very long. In another p…