TMove Statement

Description
Executes an offset linear interpolation motion in the current tool coordinate system with the force control function active.

Usage
TMove P# [FC#] [ROT] [CP] [CF] [Till | Find] [!parallel processing!] [SYNC]

• P#
  Specifies the point data defining the target position of the motion.

• FC#
  Specifies the force control object.

• CF
  Continues the force control function. Can be omitted.

Detailed Explanation
By adding a force control object as a parameter to an ordinary TMove command, a TMove motion is executed with the control force function active.
For TMove motion details, refer to the following manual.
"Epson RC+ 8.0 SPEL+ Language Reference" TMove
For details on the force control function, see below.
Move Statement

Usage Example
This is a simple program example to execute a TMove motion with the force control active.
In this example, a TMove motion is executed with the force control function active in the X axis direction of the tool coordinate system.

Function ForceTMoveTest
  FSet FCS1.Orientation, FG_TOOL   ' Sets the force coordinate data

  FSet FC1.CoordinateSystem, FCS1  ' Specifies the force coordinate data
  FSet FC1.Fx_Spring, 0            ' Sets the virtual Fx coefficient of elasticity
  FSet FC1.Fx_Damper, 1            ' Sets the virtual Fx coefficient of viscosity
  FSet FC1.Fx_Mass, 10             ' Sets the virtual Fx coefficient of inertia
  FSet FC1.Fx_Enabled, True        ' Sets the Fx force control function to active

  TMove XY(100,0,0,0) FC1          ' Executes a TMove motion with the force control function active
Fend

See Also
TMove, Move, Force Control Object FC#