BGo Statement

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

Syntax
BGo destination [CP] [Till | Find] [, !Parallel Processing!] [, SYNC]

Parameters

destination

Use point data to specify the target position of the operation.

CP

Optional. Specifies continuous path motion.

Till | Find

A Till or Find expression. This value is optional.

Till | Find
Till Sw(expr) = {On | Off}
Find Sw(expr) = {On | Off}

! Parallel Processing !

Parallel Processing statements can be added to execute I/O and other commands during motion. This value is optional.

SYNC

Reserves a motion command. The robot will not move until SyncRobots is executed.

Description
Executes a Point to Point relative motion, in the selected local coordinate system. Performs a Point to Point relative motion using the coordinate system specified in the point data for the target coordinates.

If a local coordinate system is not specified, relative motion will occur in local 0 (base coordinate system).

Arm orientation attributes specified in the destination point expression are ignored. The manipulator keeps the current arm orientation attributes. However, for a 6-Axis manipulator (including N series), the arm orientation attributes are automatically changed in such a way that joint travel distance is as small as possible. This is equivalent to specifying the LJM modifier parameter for Move statement. Therefore, if you want to change the arm orientation larger than 180 degrees, execute it in several times.

The Till modifier is used to complete BGo by decelerating and stopping the robot at an intermediate travel position if the current Till condition is satisfied.

The Find modifier is used to store a point in FindPos when the Find condition becomes true during motion.

When parallel processing is used, other processing can be executed in parallel with the motion command.

The CP parameter causes acceleration of the next motion command to start when the deceleration starts for the current motion command. In this case the robot will not stop at the destination coordinate and will continue to move to the next point.

BGo Statement Example

> BGo XY(100, 0, 0, 0) 'Move 100 mm in X direction (in the local coordinate system)

Function BGoTest

  Speed 50
  Accel 50, 50
  Power High

  P1 = XY(300, 300, -20, 0)
  P2 = XY(300, 300, -20, 0) /L
  Local 1, XY(0, 0, 0, 45)

  GoP1
  Print Here
  BGo XY(0, 50, 0, 0)
  Print Here

  Go P2
  Print Here
  BGo XY(0, 50, 0, 0)
  Print Here

  BGo XY(0, 50, 0, 0) /1
  Print Here

Fend

[Output]

 X:  300.000 Y:  300.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /R /0
 X:  300.000 Y:  350.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /R /0
 X:  300.000 Y:  300.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /L /0
 X:  300.000 Y:  350.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /L /0
 X:  264.645 Y:  385.355 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /L /0

← BClr64 Statement BMove Statement →