Point to point motion

Point to point (PTP) commands move the tool center point of the robot from its current position to a specified point. Motion of the tool center point may not be in a straight line.

To set the speed for point to point commands, use the Speed command. To set acceleration and deceleration, use the Accel command.

Command	Description
Go	Move directly to a point using point to point motion.
Jump	Jump to a point. First move up to the current LimZ setting, the move over the destination point, then move to the point. (From the current position, the third axis is moved up to the uppermost point (Z=0). A lateral orientation move is performed to above the specified target position, and the third axis is then lowered to the target position.) The Arch table settings determine the Jump profile.
Jump3	3D gate motion from the current position to the target position. The 3D gate motion consists of a depart motion, span motion, and approach motion. The robot moves from the current position to the depart point using linear interpolation while maintaining the orientation at the current position. The span motion from the depart point to the approach start position is a PTP motion. The robot moves from the approach point to the target point using linear interpolation while maintaining the orientation at the target position.
Pass	Move near one or more points.
TGo	Move directly to a point in a tool coordinate system.
BGo	Move in a PTP motion to the relative specified point in Base / Local coordinate system