PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The trajectory of playback depends on the motion mode.

MOVJ: Joint movement. From point A to point B, each joint will run from initial angle to its target angle, regardless of the trajectory, as shown in Figure 2.7.

Figure 2.7 MOVL/MOVJ mode

MOVL: Rectilinear movement. The joints will perform a straight line trajectory from point A to point B, as shown in Figure 2.7.

JUMP: From point A to point B, The joints will move in MOVJ mode, of which the trajectory looks like a door, as shown in Figure 2.8.

1. Move up to the lifting Height (**Height**) in MOVJ mode.

2. Move up to the maximum lifting height (**Limit**).

3. Move horizontally to a point that is above B by height.

4. Move down to a point that is above B by height, which the height of the point is that of point B plus **Height**.

5. Move down to Point B.

Figure 2.8 JUMP mode

In JUMP mode, if the starting point or the end point is higher than or equal to** Limit**, or the height that the end effector lifts upwards is higher than or equal to **Limit**, the trajectory is different to that of Figure 2.8. Assuming that point A is the starting point, point B is the end point, **Limit** is the maximum lifting height, and **Height** is the lifting height.

Point A and point B are both higher than **Limit**, but point A is higher than point B.

Point A and point B are both higher than **Limit**, but point B is higher than point A.

Point A is higher than **Limit**, but point B is lower than **Limit**.

The height of point A is the same as that of point B, but both are higher than **Limit**.

Point A is lower than **Limit**, but point B is higher than **Limit**.

The height of point A and point B are both the same as **Limit**.

Point A and point B are both lower than **Limit**, but the height that the height of point A plus **Height** and that of point B plus **Height** is higher than **Limit**.