TGo Method

Description
Executes Point to Point relative motion, in the current tool coordinate system.

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

Parameters
Each syntax has one parameter that specifies the end point which the arm travels to during the TGo 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, SYNC, Till or Find search expressions, and parallel processing statements.
• PointExpr
  Specifies the end 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, BGo Method, BMove Method, TMove Method, Find Method, Till Method, SetPoint Method

TGo Example
VB Example:

' Points specified using point numbers  
m_spel.Tool(1)  
m_spel.TGo(100)  
  
' Points specified using SpelPoint  
Dim pt As SpelPoint  
pt = m_spel.GetPoint("P*")  
pt.X = 125.5  
m_spel.TGo(pt)  
  
' Points specified using expressions  
m_spel.TGo("P0")  
m_spel.TGo("XY(0, 0, -20, 0)")  
  
' Using parallel processing  
m_spel.TGo("P1 \!D50; On 1; D90; Off 1\!")  
  
' Points specified using labels  
m_spel.TGo("pick")  

C# Example:

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