IAI America XSEL-KX - Manual (Page 194)

178
Part 4 Commands
 TMPI (Move relatively between positions on tool coordinate system)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional TMPI
Position
number
Prohibited PE
[Function] Each axis will move relatively on the tool coordinate system without interpolation (= PTP
operation) based on the position data specified in operand 1 setting the travel amount from
the current position.
(Note 1) Repeated use of incremental (relative) movement commands will accumulate coordinate-
conversion rounding errors.
[Example] TMPI 120
Position data
Tool coordinate home
after movement
Tool coordinate home
before movement
Yt1
Yt1
-Yt1
30
60
-30
°
Xt1
Xt1