# Coordinated motion between cobot and linear movement

**URL:** <https://forum.universal-robots.com/t/coordinated-motion-between-cobot-and-linear-movement/31651>\
**Category:** URScript\
**Created:** [November 30, 2023, 1:06pm UTC](https://forum.universal-robots.com/t/coordinated-motion-between-cobot-and-linear-movement/31651 "2023-11-30T13:06:09Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![NewbieROboprogrammer](https://avatars.discourse-cdn.com/v4/letter/n/ebca7d/32.png) [@NewbieROboprogrammer](https://forum.universal-robots.com/u/NewbieROboprogrammer)\
**Post date:** [November 30, 2023, 1:06pm UTC](https://forum.universal-robots.com/t/coordinated-motion-between-cobot-and-linear-movement/31651/1 "2023-11-30T13:06:09Z")

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Hello everyone,

I would like to know how i can achieve coordinated movement between a cobot and maybe like linear movement. so that the cobot and the move can have synchronous motion to work simultaneously, so i would like to know how to achieve this, using sequential programming, only one can operate at once, so i want to know how to do it?

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**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [November 30, 2023, 1:57pm UTC](https://forum.universal-robots.com/t/coordinated-motion-between-cobot-and-linear-movement/31651/2 "2023-11-30T13:57:18Z")

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If you can control the linear movement with digital I/O, then you can do it by using threads. Threads run parallel to the main sequence, so the linear movement is controlled simultaneously with the robot. 🙂

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**Author:** ![NewbieROboprogrammer](https://avatars.discourse-cdn.com/v4/letter/n/ebca7d/32.png) [@NewbieROboprogrammer](https://forum.universal-robots.com/u/NewbieROboprogrammer)\
**Post date:** [November 30, 2023, 2:30pm UTC](https://forum.universal-robots.com/t/coordinated-motion-between-cobot-and-linear-movement/31651/3 "2023-11-30T14:30:32Z")

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But there is no data exchange inorder to Synchornize the both , like RTDE for communication between them?

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [November 30, 2023, 8:10pm UTC](https://forum.universal-robots.com/t/coordinated-motion-between-cobot-and-linear-movement/31651/4 "2023-11-30T20:10:42Z")

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Correct. UR is working on true coordinated motion, but in the meantime you probably don’t have a great way to, for example, read the encoder counts of the linear actuator and change the robot speeds. Best I’ve done without coordinated motion is to measure how far each linear axis move is traveling and at what speed, then use the “Time” option on the robot move and match it up. That’s always been for very non-critical applications though. Just mostly for demonstrating the external axis and having the robot look like it stops its move at the exact same time as the rail.