Go Method

Description
Moves the arm in a Point to Point fashion from the current position to the specified point or XY position. The GO instruction can move any combination of the robot axes at the same time.

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

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

• PointNumber
  Specifies the end point using the point number of a previously taught point in the Controller’s point memory for the current robot.
• Point
  Specifies the end point using the SpelPoint data type.
• AttribExpr
  Specifies the end point attributes using a string expression.
  It can contain CP, LJM, SYNC, Till or Find search expressions, and parallel processing statements.
• PointExpr
  Specifies the end point using a string expression.
  It can contain CP, LJM, 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, Jump Method, Jump3 Method, Jump3CP Method, Move Method, BGo Method, BMove Method, TGo Method, TMove Method, Arch Method, Find Method, Sense Method, Till Method, SetPoint Method

Go Example
VB Example:

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

C# Example:

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