Part 4 Commands
TMPI (Move relatively between positions on tool coordinate system)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Output
(Output, flag)
Operand 1 Operand 2
Optional Optional TMPI
Position
number
Prohibited PE
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
Repeated use of incremental (relative) movement commands will accumulate coordinate-
conversion rounding errors.
Position data
after movement
before movement
-30°
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