igus Drylin Delta, User Manual

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The Joint command can be accessed in iRC’s Program Editor under the menu entries
“Action”->”Joint motion” and “Action”->”Variable motion”->”Joint”.
8.5.4. Linear Motion
The Linear command moves the robot to an (absolute) target position given in Cartesian
coordinates. The resulting motion of the tool center point (TCP) will follow a straight line. The
target position can be given in the following ways (choose corresponding “Source”):
 “Constant”:
The target position is a constant given by Cartesian coordinates X,Y,Z and Euler
Angles A,B,C and positions of external axes if supported by the current robot
kinematic.