TMove Method

Description
Executes linear interpolation relative motion, in the current tool coordinate system

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

Parameters
Each syntax has one parameter that specifies the end point which the arm travels to during the TMove motion. This is the final position at the end of the linear interpolated 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 ROT, CP, SYNC, Till or Find search expressions, and parallel processing statements.
• PointExpr
  Specifies the target point using a string expression
  It can contain ROT, 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
AccelR Method, AccelS Method, SpeedR Method, SpeedS Method, Arc Method, Arc3 Method, CVMove Method, Go Method, Jump Method, Jump3 Method, Jump3CP Method, Move Method, BGo Method, BMove Method, TGo Method, Find Method, Till Method, SetPoint Method

TMove Example
VB Example:

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

C# Example:

// Point specified using point number  
m_spel.Tool(1);  
m_spel.TMove(100);  
  
// Points specified using SpelPoint  
SpelPoint pt;  
pt = m_spel.GetPoint("P0");  
pt.X = 125.5;  
m_spel.TMove(pt);  
  
// Points specified using expressions  
m_spel.TMove ("P0");  
m_spel.TMove ("XY(0, 0, -20, 0)");  
  
// Using a parallel processing  
m_spel.TMove("P1 \!D50; On 1; D90; Off 1\!");  
  
// Points specified using labels  
m_spel.TMove("pick");