IAI America XSEL-QX - Manual (Page 281)

257
Part 4 Commands
z TMLI (Dedicated SCARA command: Move relatively between positions on tool coordinate system via
interpolation in CP operation)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional TMLI
Position
number
Prohibited PE
[Function] Each axis will move relatively on the tool coordinate system with interpolation (= CP
operation) based on the position data specified in operand 1 setting the travel amount from
the current position.
(Note 1) This command is used exclusively for SCARA axes. If it is specified for a linear movement
axis, an “Error No. B80, Specification-prohibited axis error” or “Error No. 421, SCARA/linear
movement axis simultaneous specification error” will generate.
(Note 2) Repeated use of incremental (relative) movement commands will accumulate coordinate-
conversion rounding errors.
[Example] TMLI 120
Position data
Tool coordinate home
after movement
Tool coordinate home
before movement
Yt1
Yt1
-Yt1
30
60
-30 q
Xt1
Xt1