BGo Method

Description
Executes Point to Point relative motion in the selected local coordinate system.

Syntax
Sub BGo (PointNumber As Integer)
Sub BGo (Point As SpelPoint)
Sub BGo (Point As SpelPoint, AttribExpr As String)
Sub BGo (PointExpr As String)

Parameters
Each syntax has one parameter that specifies the end point which the arm travels to during the BMove motion. This is the final position at the end of the point to point motion.

• PointNumber
  Specifies the target point using a previously taught point number from the current robot point memory stored in the controller.
• Point
  Specifies the target point using the SpelPoint data type.
• AttribExpr
  Specifies the end point attributes using a string expression.
  It can contain CP, SYNC, Till or Find search expressions, and parallel processing statements.
• PointExpr
  Specifies the target point using a string expression.
  It can contain CP, SYNC, Till or Find search expressions, and parallel processing statements.

Remarks
If an error occurs and the ErrorNumber property of the SpelException is 3101, see the remarks in the SetPoint method.

See Also
Accel Method, Speed Method, Arc Method, Arc3 Method, CVMove Method, Go Method, Jump Method, Jump3 Method, Jump3CP Method, Move Method, BMove Method, TGo Method, TMove Method, Find Method, Till Method, SetPoint Method

BGo Example
VB Example:

' Points specified using point numbers  
m_spel.Tool(1)  
m_spel.BGo(100)  
  
' Points specified using SpelPoint  
Dim pt As SpelPoint  
pt = m_spel.GetPoint("P*")  
pt.X = 125.5  
m_spel.BGo(pt)  
  
' Using an attribute expression  
m_spel.BGo(pt, "Till")  
  
' Points specified using expressions  
m_spel.BGo("P0 /L /2")  
m_spel.BGo("P1 :Z(-20)")  
  
' Using parallel processing  
m_spel.BGo("P1 \!D50; On 1; D90; Off 1\!")  
  
' Points specified using labels  
m_spel.BGo("pick")  

C# Example:

// Point specified using point number  
m_spel.Tool(1);  
m_spel.BGo(100);  
  
// Points specified using SpelPoint  
SpelPoint pt;  
pt = m_spel.GetPoint("P*");  
pt.X = 125.5;  
m_spel.BGo(pt);  
  
// Using an attribute expression  
m_spel.BGo(pt, "Till");  
  
// Points specified using expressions  
m_spel.BGo("P0 /L /2");  
m_spel.BGo("P1 :Z(-20)");  
  
// Using a parallel processing  
m_spel.BGo("P1 \!D50; On 1; D90; Off 1\!");  
  
// Points specified using labels  
m_spel.BGo("pick");