YASKAWA NX100 Operator's Manual page 458

10 Table of Basic Instructions
10.1 Move Instructions
Function
MOVS Additional
Item
Example
Function
IMOV
Additional
Item
Example
Moves to a taught point with spline interpolation type.
Position data,
Base axis position data,
Station axis position data
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
PL=<position level>
NWAIT
ACC=(acceleration adjustment ratio)
DEC=(deceleration adjustment ratio)
MOVS V=120 PL=0
Moves the specified increment from the current position with linear
interpolation type.
P<variable number>,
BP<variable number>,
EX<variable number>
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
PL=<position level>
NWAIT
BF,RF,TF,UF# (<user coordinate number>)
UNTIL statement
ACC=(acceleration adjustment ratio)
DEC=(deceleration adjustment ratio)
IMOV P000 V=138 PL=1 RF
10-3
149235-1CD
These data do
not appear on
the screen.
Same as
MOVL.
PL:0 to 8
ACC: 20 to
100%
DEC: 20 to
100%
Same as
MOVL.
PL:0 to 8
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool coordinates
UF:
user
coordinates
ACC: 20 to
100%
DEC: 20 to
100%
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