Generally, in homotopy theory a cylinder object (or, its dual, a path object) is used to define homotopy between morphisms, and a cone object is used to build exact sequences of homotopy groups. Here, an axiomatic theory based on a cone functor is given. Suspension objects are associated to based objects and cofibrations, obtaining homotopy groups referred to an object and relative to a cofibration, respectively. Exact sequences of these groups are built. Algebraic and particular examples are given. We point out that the main results of this paper were already stated in , and the purpose of this article is to give full details of the foregoing.