Is it possible to verify that robot can do linear movement before starting movement itself?
Starting point is given as POS structure (with defined Status and Turn), end point as POS structure without defined Status and Turn (as I understand going from point to point using LIN or SLIN ignores endpoint Status and Turn trying to keep trajectory and speed along movement). Required trajectory is straight line between start and end points.
I have tried to check start, end and some artificial points between them using INVERSE function, but ability to reach all this point on trajectory do not ensure that robot can do linear movement described by checked points.