TMove Statement

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

Syntax
TMove destination [ROT] [CP] [ searchExpr ] [ !...! ] [SYNC]

Parameters

destination

Point data is used to specify the target position of the operation.

ROT

Optional. :Decides the speed/acceleration/deceleration in favor of tool rotation.

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 linear interpolated 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. 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.

TMove uses the SpeedS speed value and AccelS acceleration and deceleration values. Refer to Using TMove with CP below on the relation between the speed/acceleration and the acceleration/deceleration. If, however, the ROT modifier parameter is used, TMove uses the SpeedR speed value and AccelR acceleration and deceleration values. In this case SpeedS speed value and AccelS acceleration and deceleration value have no effect.

If the robot attempts to change only the tool orientation rotation while keeping the tool tip position fixed at a specific coordinate, or if the tool orientation rotation is large relative to the distance traveled by the tool tip, the tool orientation rotation speed may become significantly faster. To prevent this, the operation speed is automatically limited when the speed of tool orientation rotation is too high.

If you wish to manually set the upper limit of the tool orientation rotation speed during CP motion, turn on SpeedRLimitation. When SpeedRLimitation is turned on, if the tool orientation rotation speed exceeds the set SpeedR during CP motion, the motion speed is limited so that the tool orientation rotation speed equals to SpeedR. If the tool orientation rotation speed does not exceed the set SpeedR, it moves at the set speed (SpeedS). Set the upper limit of the tool orientation rotation speed in advance using SpeedR.

The Till modifier is used to complete TMove 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.

Note

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• Using TMove with CP

  The CP parameter causes the arm to move to destination without decelerating or stopping at the point defined by destination. This is done to allow the user to string a series of motion instructions together to cause the arm to move along a continuous path while maintaining a specific speed throughout all the motion. The TMove instruction without CP always causes the arm to decelerate to a stop prior to reaching the point destination.

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See Also
AccelS, CP, Find, !....! Parallel Processing, Point Assignment, SpeedS, TGo, Till, Tool

TMove Statement Example

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

  Speed 50
  Accel 50, 50
  SpeedS 100
  AccelS 1000, 1000
  Power High

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

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

  Go P2
  Print Here
  TMove 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