TGo Statement

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

Syntax
TGo destination [CP] [searchExpr] [!...!] [SYNC]

Parameters

destination

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

CP

Optional. Specifies continuous path motion.

Till | Find

Optional. A Till or Find expression.

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

!...!

Optional. Parallel Processing statements can be added to execute I/O and other commands during motion.

SYNC

Reserves a motion command. A robot will not move until the SyncRobots gives instructions.

Description
Executes point to point relative motion in the current tool 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.

The Till modifier is used to complete TGo 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.

See Also
Accel, CP, Find, !....! Parallel Processing, P#= (Point Assignment), Speed, Till, TMove, Tool

TGo Statement Example

> TGo XY(100, 0, 0, 0)	'Move 100 mm in X direction (in the tool coordinate system)
Function TGoTest

  Speed 50
  Accel 50, 50
  Power High

  Tool 0
  P1 = XY(300, 300, -20, 0)
  P2 = XY(300, 300, -20, 0) /L

  Go P1
  Print Here
  TGo XY(0, 0, -30, 0)
  Print Here

  Go P2
  Print Here
  TGo XY(0, 0, -30, 0)
  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:  300.000 Z:  -50.000 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:  300.000 Z:  -50.000 U:    0.000 V:    0.000 W:    0.000 /L /0