Page 1 (FOR LARGE AND MEDIUM-SIZED MANIPULATORS) MOTOMAN- INSTRUCTIONS MOTOMAN- INSTRUCTIONS FS100 INSTRUCTIONS FS100L INSTRUCTIONS FS100 OPERATOR’S MANUAL FS100L OPERATOR’S MANUAL FS100 MAINTENANCE MANUAL FS100L MAINTENANCE MANUAL The FS100 OPERATOR’S MANUAL above is applicable to both FS100 and FS100L controllers. YASKAWA ELECTRIC CORPORATION MANUAL NO. RE-CKI-A458...
Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
Page 3 FS100 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the FS100. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates an imminent hazardous DANGER...
Page 4 17 pin of the robot system signal connector (CN2). • Upon shipment of the FS100, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to prepare a new connector, and then input it.
Page 5 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the FS100 controller, manipulator cables, the FS100 programming pendant (optional), and the FS100 programming pendant dummy connector (optional).
Page 6 FS100 Descriptions of the programming pendant keys, buttons, displays and keyboard of the PC are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on Pendant them are denoted with [ ]. ex. [ENTER]...
Page 7: Table Of Contents
FS100 Contents 1 Outline of INFORM ......................... 1-1 About INFORM ......................... 1-1 1.1.1 INFORM III ......................1-1 1.1.2 Type of Instruction ....................1-1 1.1.3 Instruction Set ...................... 1-2 1.1.3.1 Selecting Instruction Set ................. 1-2 1.1.4 Variables to be Used in Instructions ..............1-4 1.1.4.1 Set Value of Variable and Numeric Data..........
Page 8 FS100 Contents CWAIT......................2-53 MSG ......................2-54 ADVINIT ......................2-55 ADVSTOP ..................... 2-56 PRINT......................2-57 CLS ....................... 2-61 ABORT ......................2-62 SETUALM ..................... 2-63 DIALOG......................2-65 DIALSB......................2-69 2.3 Operating Instruction......................2-72 CLEAR ......................2-72 INC ........................ 2-76 DEC....................... 2-78 SET .......................
Page 9 FS100 Contents SFTOF ......................2-203 MSHIFT....................... 2-205 2.6 Instruction Which Adheres to an Instruction ..............2-208 IF ......................... 2-208 UNTIL......................2-218 ENWAIT ...................... 2-220 2.7 General-purpose Instruction ..................2-221 TOOLON ..................... 2-221 TOOLOF ..................... 2-222...
Page 10: Outline Of Inform
About INFORM Outline of INFORM About INFORM 1.1.1 INFORM III The robot programming language used with FS100 is called INFORM III. INFORM III is composed of the instruction and the additional item (tag and numeric data). MOVJ VJ=50.00 Tag Numeric data...
Page 11: Instruction Set
Outline of INFORM FS100 About INFORM 1.1.3 Instruction Set To improve operation efficiency, the number of instructions to be registered is limited. All instructions are executed, regardless of the instruction set during playback, etc. • Subset Instruction Set Only high instructions which are used frequently are in the subset instruction set.
Page 12 Outline of INFORM FS100 About INFORM 4. Select the language level (instruction set) – The language level is selected. DATA EDIT UTILITY DISPLAY TEACHING CONDITION RECT/CYLINDRICAL RECT LANGUAGE LEVEL EXPANDED INSTRUCTION INPUT LEARNING VALID MOVE INSTRUCTION SET LINE STEP ONLY CHANGING...
Page 13: Variables To Be Used In Instructions
The number of local variables to be used must be set in the job header display. For setting the number of local variables, refer to the FS100 Operator’s Manual “3.9.11 Editing Local Variables”. 1.1.4.1 Set Value of Variable and Numeric Data...
Page 14: Registration Of Instructions
Outline of INFORM FS100 Registration of Instructions Registration of Instructions 1.2.1 Registration Press [INFORM LIST] . while the job content window is shown to register instructions. 1. Select {JOB} under the main menu 2. Select {JOB} – The job content window appears.
Page 15: Learning Function
Outline of INFORM FS100 Registration of Instructions 1.2.2 Learning Function With the learning function, an instruction can be registered with the same additional items as those previously registered with the instruction. Validate the learning function to minimize the number of instruction registries.
Page 16: Detail Edit Window
Outline of INFORM FS100 Detail Edit Window Detail Edit Window All instructions have a detail edit window. The detail edit window is used for adding, modifying, and deleting additional items in the instruction. EDIT DISPLAY UTILITY DETAIL EDIT  Instruction...
Page 17: Registration Of Expression
Outline of INFORM FS100 Registration of Expression Registration of Expression 1.4.1 Expression With INFORM III, an expression can be added to the SET instruction. < Example > SET B000 ( B001 + B002 ) / B003 - ( B004 + B005 ) * B006...
Page 18 Outline of INFORM FS100 Registration of Expression Data The data type of the expression is indicated. The following types of data can be registered. • Constant (byte type, integer type, double-precision type, and real- number type) • Byte type variable (B, B[], LB, and LB[]) Integer type variable (I, I[], LI, and LI[]) •...
Page 19: Registration
Outline of INFORM FS100 Registration of Expression 1.4.2 Registration 1. Select {JOB} under the main menu 2. Select {JOB} 3. Press [INFORM LIST] 4. Select “ARITH” 5. Select “SET” 6. Press [SELECT] – The DETAIL EDIT window for the SET instruction appears.
Page 20 Outline of INFORM FS100 Registration of Expression 8. Select “EXPRESS” – The DETAIL EDIT window for expression appears. EDIT DISPLAY UTILITY DETAIL EDIT EXPRESSION ( DATA SEL.TYPE ) OPERATOR DATA01 => Main Menu Short Cut 9. Enter the expression and press [ENTER] –...
Page 21: Inform Structure
Outline of INFORM FS100 INFORM Structure INFORM Structure An example of the INFORM structure is shown in the following structure flowchart. The INFORM structure chart is composed of the structure elements (instruction, tag, and data). The order of the rows is shown with the numbers and arrows.
Page 22: Inform Structure Elements
Outline of INFORM FS100 INFORM Structure 1.5.0.2 INFORM Structure Elements INFORM Structure Explanation Note Element Indicates the instruction. In this example, the “MOVJ" instruction is indicated. MOVJ Indicates the tag. In this example, the "VJ=" instruction is indicated. Indicates the numeric data. In this example, "Joint speed" is set with the unit %.
Page 23: Explanation Table
Outline of INFORM FS100 INFORM Structure 1.5.0.4 Explanation Table The explanation table in this manual can be described as follows. Explanation Note OT # (Output Specifies the output number signal. No:1 to 1024 number) Variable B/I/D/LB/LI/LD can be used. • NO.
Page 24: Inform Explanation
INFORM Explanation FS100 I/O Instructions : DOUT INFORM Explanation I/O Instructions DOUT SUBSET STANDARD EXPANDED Available Available Available Function Turns the general output signal on and off. Construction DOUT Output No. Output group Output group OGH# B/LB/ Variable No. B[]/LB[]...
Page 25 INFORM Explanation FS100 I/O Instructions : DOUT Explanation 1. OT# (Output number) /OG# (Output group number) / OGH# (Output group number) Choose one of the tags from the following table. Explanation Note OT#(Output number) Specifies the output number signal. No:1 to 1024 Variable B/I/D/LB/LI/LD can be used.
Page 26 INFORM Explanation FS100 I/O Instructions : DOUT 3. B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constant When OG# (Output group number) or OGH# (Output group number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
Page 27: Din
INFORM Explanation FS100 I/O Instructions : DIN SUBSET STANDARD EXPANDED Available Available Available Function Refers to the byte type variable for the status of the signal. Construction B/LB/B[]/ Variable No. Input No. LB[] Input group No. Output No. Output group...
Page 28 INFORM Explanation FS100 I/O Instructions : DIN 2. IN#(Input number) / IG#(Input group number) / OT#(Output number) /OG#(Output group number) / SIN#(Specific input number) / SOUT#(Specific out- put number) / IGH#(Input group number) / OGH#(Out- put group number) Choose one of the tags from the following table.
Page 29 INFORM Explanation FS100 I/O Instructions : DIN Example (1) DIN B016 IN#(12) The on/off status of general input signal no.12 is shown in byte type variable No.16. When the general input signal No.12 is on, the status of the general input signal is B016=1 (deci- mal)=00000001(binary).
Page 30: Wait
INFORM Explanation FS100 I/O Instructions : WAIT WAIT Function Waits until the status of the external signal or byte type variable is the same as the specified status. Construction B/LB/B[]/ WAIT Input No. Variable No. LB[] Output No. ON/OFF Specific SIN# input No.
Page 31 INFORM Explanation FS100 I/O Instructions : WAIT Explanation Note IG#(Input group Specifies the number of general input group (1 group 8 No:1 to 128 number) points) signal for the waiting condition. Variable B/I/D/LB/LI/LD can be used. OG#(Output group Specifies the number of general output group (1 group...
Page 32 INFORM Explanation FS100 I/O Instructions : WAIT 4. =/<> When an IG# (input group number), OG# (output group number), IGH# (input group number), OGH# (output group number), B variable number, LB variable number, B [array number], or LB [array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
Page 33 INFORM Explanation FS100 I/O Instructions : WAIT Example (1) WAIT IN#(12)=ON Waits until general input signal no.12 is turned on. (2) SET B000 5 SET B002 16 WAIT SIN#(B000)=B002 T=3.000 B002=16 (Decimal)=00010000 (Binary) Waits until specific input signal no.5 is turned off.
Page 34: Pulse
INFORM Explanation FS100 I/O Instructions : PULSE PULSE SUBSET STANDARD EXPANDED Available Available Available Function The pulse signal is output to the general output signal only for the specified time. The PULSE instruction, without waiting for completion of the instruction, executes the next one.
Page 35 INFORM Explanation FS100 I/O Instructions : PULSE 2. B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constant When OG# (output group number) or OGH# (output group number) in the above table is selected, choose one of the tags from the following table.
Page 36 INFORM Explanation FS100 I/O Instructions : PULSE (3) SET B000 24 PULSE OG#(3) B000 B000=24 (Decimal)=00011000 (Binary) OT#(24) OT#(23) OT#(22) OT#(21) OT#(20) OT#(19) OT#(18) OT#(17) OG#(3) The pulse signal is output for 0.30 seconds to the general output signal No.’s 20 and 21.
Page 37: Aout
INFORM Explanation FS100 I/O Instructions : AOUT AOUT SUBSET STANDARD EXPANDED Not available Available Available Function Outputs the set voltage value to the general-purpose analog output port. Construction Analog output Output voltage AOUT port No. value (V) Explanation 1. AO# (Analog output port number) Add the following tag.
Page 38: Aration
INFORM Explanation FS100 I/O Instructions : ARATION ARATION SUBSET STANDARD EXPANDED Not available Available Available Function Starts the analog output corresponding to the speed. ARATION is valid during linear interpolation, circular interpolation, and spline interpolation. ARTION is carried out during playback or FWD operation, but not while operating an axis.
Page 39 INFORM Explanation FS100 I/O Instructions : ARATION 3. V=Basic speed The following tag can be added or omitted. Explanation Note V=Basic speed Specifies the speed at which the set voltage value is Speed: 0.1 to 1500.0 output. mm/s. Variable B/I/D/LB/LI/LD can be used.
Page 40 INFORM Explanation FS100 I/O Instructions : ARATION Analog output function corresponding to the speed SUPPLE -MENT To regulate the thickness of the sealing or paint, etc. when sealing and painting, the amount of discharged material should be adjusted according to the motion speed of the manipulator.
Page 41 INFORM Explanation FS100 I/O Instructions : ARATION Analog voltage Basic voltage Motion speed (mm/sec) Basic speed Offset voltage 2-18...
Page 42: Aratiof
INFORM Explanation FS100 I/O Instructions : ARATIOF ARATIOF SUBSET STANDARD EXPANDED Not available Available Available Function Cancels the analog output corresponding to the speed. Construction Analog output ARATIOF port No. Explanation 1. AO# (Analog output port number) Add the following tag.
Page 43: Antout
INFORM Explanation FS100 I/O Instructions : ANTOUT ANTOUT The ANTOUT instruction can be used only with parameter S4C008. SUBSET STANDARD EXPANDED Parameter Not available Available Available S2C646 Function Carries out the anticipation output function to adjust the timing of the signal output.
Page 44 INFORM Explanation FS100 I/O Instructions : ANTOUT Anticipation output function SUPPLE -MENT The anticipation output function is a signal output timing adjustment function to advance or delay the ON/OFF timing of 32 general-purpose outputs and 16 general-purpose output groups. The signal can be output before or after the manipulator reaches the step.
Page 45 INFORM Explanation FS100 I/O Instructions : ANTOUT Construction Anticipation ANTOUT ON/OFF output No. Anticipation B/LB/B[]/ group output Variable No. LB[] Byte type constant Anticipation ANT= time (s) Explanation 1. AT# (Anticipation output number) / AG# (Anticipa- tion group output number) Choose one of the tags from the following table.
Page 46 INFORM Explanation FS100 I/O Instructions : ANTOUT Settings for the anticipation output signal SUPPLE -MENT Set the number of the output signal for the anticipation output in the ANTICIPATION OUT- PUT display. A. OT OUTPUT (Setting range: 1 to 1024) Allocate the number of the general-purpose output whose signal timing is to be adjusted to AT NO.
Page 47 INFORM Explanation FS100 I/O Instructions : ANTOUT 3. B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constant When an AG# (anticipation group output number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
Page 48: Control Instruction
INFORM Explanation FS100 Control Instruction : JUMP Control Instruction JUMP SUBSET STANDARD EXPANDED Available Available Available Function Jumps to specified label or job. Construction Label character JUMP string B/LB/B[]/ LABEL: Variable No. LB[] Input group No. JOB: User coordinate No.
Page 49 INFORM Explanation FS100 Control Instruction : JUMP Explanation 1. *Label character string /LABEL:/JOB:/B Variable number /LB Variable number /B [Array number] /LB [Array number] /IG# (Input group number) / QUE/I Variable number/LI Variable number/I [Array num- ber]/LI [Array number]/D Variable number/LD Vari-...
Page 50 INFORM Explanation FS100 Control Instruction : JUMP 2. B Variable number / LB Variable number / B [Array number] / LB [Array number] / IG# (Input group num- ber) When a LABEL: is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
Page 51 INFORM Explanation FS100 Control Instruction : JUMP Example (1) JUMP *1 Jumps to *1. (2) JUMP JOB:TEST1 UF#(2) Jumps to the job named TEST1. TEST1 works in user coordinate system No.2. (3) SET B000 1 JUMP B000 IF IN#(14)=ON If input signal no.14 is on, it jumps to job “1”.
Page 52: Call
INFORM Explanation FS100 Control Instruction : CALL CALL SUBSET STANDARD EXPANDED Available Available Available Function Calls the specified job. Construction CALL JOB: B/ LB/ Variable No. B[]/ LB[] User coordinate Input group No. I/ LI/ I[] Variable No. / LI[] D/ LD/ Variable No.
Page 53 INFORM Explanation FS100 Control Instruction : CALL B / L B / Argument Variable No. E N D B[] / L B[] I/ L I/ I[] Variable No. / L I[] D/ L D/ Variable No. D[] / L D[] R/ L R/ Variable No.
Page 54 INFORM Explanation FS100 Control Instruction : CALL Choose one of the tags from the following table. Explanation Note JOB: Specifies a job to be called. B Variable number/ The numerical value specified by the byte type variable LB Variable number/ is considered as the job to be called.
Page 55 INFORM Explanation FS100 Control Instruction : CALL 4. IF The following tag can be added or omitted. Explanation Note Specifies the IF instruction. Refer to chapter 2.6 “Instruction Which Adheres to an Instruction” at page 2-208. 5. Argument The following tag can be added or omitted.
Page 56 INFORM Explanation FS100 Control Instruction : CALL <Calling Job> SET B000 1 SET B001 5 SET B002 7 CALL JOB: WAIT_INPUT <Called Job> Job name: WAIT_INPUT WAIT IN#(B000) ON WAIT IN#(B001) ON WAIT IN#(B002) ON This makes the calling job program long, and the global variable will be used only for this information transfer.
Page 57 INFORM Explanation FS100 Control Instruction : CALL (2) RET Instruction with Return Value For example, to create the job which adds any two register values, the register number had to be passed from the calling job, and in the called job, the calculation result had to be entered in any of the global variable, then the calling job had to refer to that.
Page 58 INFORM Explanation FS100 Control Instruction : CALL 5. 2 Operating Procedure (1) Addition of Argument to CALL Instruction 1) Creating a Called Job As an example, the job which resets 8 I/Os specified by arguments is created as follows: 1. Create a job.
Page 59 INFORM Explanation FS100 Control Instruction : CALL The following display appears. Then, make the setting of arguments. Set “ARG. 1 to 8” on the left to “USE”, set “OUTPUT1 to 8” as “COMMENT”, then select “BYTE” as “TYPE”. Select {EXECUTE} to complete the registration of arguments.
Page 60 INFORM Explanation FS100 Control Instruction : CALL (2) The job content is as follows: GETARG LB000 IARG#(1) //OUTPUT1 GETARG LB000 IARG#(2) //OUTPUT2 GETARG LB000 IARG#(3) //OUTPUT3 GETARG LB000 IARG#(4) //OUTPUT4 GETARG LB000 IARG#(5) //OUTPUT5 GETARG LB000 IARG#(6) //OUTPUT6 GETARG LB000 IARG#(7) //OUTPUT7...
Page 61 INFORM Explanation FS100 Control Instruction : CALL 2. Register local variables. Register 2 byte-type variables and 3 integer-type variables. 3. Define arguments. As shown below, define 2 arguments. 4. Describe the job content. Describe the job content as shown below. LI000 is newly added as the return value at the RET instruction.
Page 62 INFORM Explanation FS100 Control Instruction : CALL (1) Describe the calling job. As shown below, describe the calling job. The register numbers to specify are the registers 0 and 1 as “CALL JOB: ADD_REG (0, 1)” shows. The return value is received at GETS I000 $RV. Thus, the addi- tion result will be returned to I000.
Page 63 INFORM Explanation FS100 Control Instruction : CALL JOB Stack When CALL instruction is executed, a specified job is called up and the information of the calling job is stored in the JOB stack. By executing END or RET instruction, the job execu- tion goes back to the calling job, referring to the information in the JOB stack.
Page 64 INFORM Explanation FS100 Control Instruction : CALL Even when executing JUMP:JOB instruction in the job called by CALL instruction, the job execution goes back to the calling job by executing END or RET instruction after that, referring to the content of the JOB stack.
Page 65 INFORM Explanation FS100 Control Instruction : CALL This is the case that CALL instruction is executed in a job with control groups ([D] in the figure below) to call a job with control groups ([D-1]), and JUMP:JOB instruction is exe- cuted in the job ([D-1]) to call a job without control groups.
Page 66: Getarg
INFORM Explanation FS100 Control Instruction : GETARG GETARG SUBSET STANDARD EXPANDED Not available Not available Available Function This is the instruction to receive arguments for the CALL instruction and macro instruction. When the instruction is executed, the argument data added to the CALL instruction or macro instruction is retrieved, then stored in the local variable specified to be used in the CALL job or macro job.
Page 67 INFORM Explanation FS100 Control Instruction : GETARG Explanation Note LP Variable number Specifies the local robot axis position type variable LP [Array number] which stores the argument. LBP Variable number Specifies the local base axis position type variable LBP [Array number] which stores the argument.
Page 68: Timer
INFORM Explanation FS100 Control Instruction : TIMER TIMER SUBSET STANDARD EXPANDED Available Available Available Function Stops for the specified time. Construction TIMER Time (s) Explanation 1. T=timer Add the following tag. Explanation Note T=timer Specifies the stopping time. Timer: 0.001 to 65.535...
Page 69: (Label)
INFORM Explanation FS100 Control Instruction : *(LABEL) *(LABEL) SUBSET STANDARD EXPANDED Available Available Available Function Specifies the label for the jump. Construction LABEL Label strings Explanation 1. *Label strings Add the following tag. Explanation Note *Label strings Specifies the label strings.
Page 70: (Comment)
INFORM Explanation FS100 Control Instruction : ’(COMMENT) ’(COMMENT) SUBSET STANDARD EXPANDED Available Available Available Function Specifies the comment. Construction COMMENT ’ Comment strings Explanation 1. 'Comment strings Add the following tag. Explanation Note 'Comment strings Specifies the comment. String: 32 characters...
Page 71: Ret
INFORM Explanation FS100 Control Instruction : RET SUBSET STANDARD EXPANDED Available Available Available Function Returns from the called job to the calling job. Construction Argument Variable No. Variable No. Variable No. Variable No. Variable No. Byte type constant Integer type...
Page 72 INFORM Explanation FS100 Control Instruction : RET Explanation 1. IF The following tag can be added or omitted. Explanation Note Specifies the IF instruction. Refer to chapter 2.6 “Instruction Which Adheres to an Instruction” at page 2-208. Example (1) RET IF IN#(12)=ON If general input signal No.12 is on, it returns to the job of the call...
Page 73 INFORM Explanation FS100 Control Instruction : RET Example The following example is the case when the value returned from JOB: SAMPLE is received by I000. CALL JOB: SAMPLE GETS I000 $RV In this case, at JOB: SAMPLE, the argument must be added to RET as...
Page 74: Nop
INFORM Explanation FS100 Control Instruction : NOP SUBSET STANDARD EXPANDED Not available Available Available Function Carries out no operation. Construction N O P E N D Example (1) NOP 2-51...
Page 75: Pause
INFORM Explanation FS100 Control Instruction : PAUSE PAUSE SUBSET STANDARD EXPANDED Not available Available Available Function Stops the job temporarily. Construction P A U S E E N D Explanation 1. IF The following tag can be added or omitted.
Page 76: Cwait
INFORM Explanation FS100 Control Instruction : CWAIT CWAIT SUBSET STANDARD EXPANDED Not available Available Available Function Releases the NWAIT execution (which simultaneously executes the manipulator operation and instructions excluding the move instruction) and waits for the next instruction line to be carried out.
Page 77: Msg
INFORM Explanation FS100 Control Instruction : MSG SUBSET STANDARD EXPANDED Not available Available Available Function Displays the message. Construction " " Message strings Explanation 1. "Message strings" Explanation Note “Message strings” Specifies the message. String: 32 characters 2-54...
Page 78: Advinit
When the same variable is used for multiple systems in the optional independent control function, ADVINIT controls the timing to change the variable data among the systems. ADVINIT is an instruction used to control FS100 internal processing, therefore, executing this instruction does not affect the job. Construction...
Page 79: Advstop
When the same variable is used for multiple systems in the optional independent control function, ADVSTOP controls the access timing of the variable data among the systems. ADVSTOP is an instruction used to control FS100 internal processing, therefore, executing this instruction does not affect the job. Construction...
Page 80: Print
INFORM Explanation FS100 Control Instruction : PRINT PRINT SUBSET STANDARD EXPANDED Not available Available Available Function Shows the specified character string and variable on the terminal display. * Terminal display: Select {Main Menu}, {IN/OUT}, then {TERMINAL} to show it. If the independent control function is enabled, the page is different for each task.
Page 81 INFORM Explanation FS100 Control Instruction : PRINT 2. B Variable number / LB Variable number / B [Array number] / LB [Array number] / I Variable number / LI Variable number / I [Array number] / LI [Array num- ber] / D Variable number / LD Variable number / D...
Page 82 INFORM Explanation FS100 Control Instruction : PRINT Example (1) PRINT “TEST” Show TEST on the terminal display. (2) PRINT “TEST\n” Show TEST on the terminal display, and start a new line. (3) PRINT “TEST%d” B001 Show TEST on the terminal display, and display the value of B001 in decimal notation.
Page 83 INFORM Explanation FS100 Control Instruction : PRINT (4) PRINT B001 Show the value of B001 on the terminal display. 2-60...
Page 84: Cls
INFORM Explanation FS100 Control Instruction : CLS SUBSET STANDARD EXPANDED Not available Available Available Function Deletes the character string shown on the terminal display. Construction C L S E N D Example (1) CLS Deletes the character string shown on the terminal display.
Page 85: Abort
INFORM Explanation FS100 Control Instruction : ABORT ABORT SUBSET STANDARD EXPANDED Not available Available Available Function Suspends playback, and shows “Robot is stopped by execution ABORT command.” on the human interface display area. After the playback is suspended by ABORT instruction, it will not restart until the job is reselected on the JOB SELECT window.
Page 86: Setualm
INFORM Explanation FS100 Control Instruction : SETUALM SETUALM SUBSET STANDARD EXPANDED Not available Available Available Function Generates an alarm with any given number, name and subcode. Construction SETULAM Constant Character string " " I/ LI/ I[] Variable number / LI[]...
Page 87 INFORM Explanation FS100 Control Instruction : SETUALM 2. Alarm Name The following tag can be added or omitted. Explanation Note S Variable number/ Specifies the alarm name. String: 32 characters LS Variable number/ S variable: 16 characters S [Array number]/...
Page 88: Dialog
INFORM Explanation FS100 Control Instruction : DIALOG DIALOG SUBSET STANDARD EXPANDED PARAMETER Not available Available Available S2C400 Function Shows the dialog during the execution of job. If the current display is not the PLAYBACK window, the PLAYBACK window is displayed when the dialog is shown by the execution of DIALOG instruction.
Page 89 INFORM Explanation FS100 Control Instruction : DIALOG 2. DIALSB (First) Shows a message and one button in the dialog. For details, refer to “DIALSB”. Make sure to add the following tag. Explanation Note DIALSB Select the button shown by this instruction to store 1 in the selection result.
Page 90 INFORM Explanation FS100 Control Instruction : DIALOG (1) DIALOG B000 DIALSB B001 B002 S000 B003 B004 S001 Shows the message of S000 at coordinates (B001, B002), and shows the button with the name of S001 at coordinates (B003, B004). When the button is clicked, the result is stored in B000.
Page 91 INFORM Explanation FS100 Control Instruction : DIALOG (3) DIALOG B000 DIALSB B001 B002 S000 B003 B004 S001 DIALSB B005 B006 S002 B007 B008 S003 DIALSB B009 B010 S004 B011 B012 S005 DIALSB B013 B014 S006 B015 B016 S007 DIALSB B017 B018 S008 B019 B020 S009...
Page 92: Dialsb
INFORM Explanation FS100 Control Instruction : DIALSB DIALSB SUBSET STANDARD EXPANDED Not available Available Available Function Specifies the structure of the dialog (the display position of the message and button) shown by the DIALOG instruction. * Can be selected only in the DIALOG instruction.
Page 93 INFORM Explanation FS100 Control Instruction : DIALSB 2. B Variable number / LB Variable number / B [Array number] / LB [Array number]: Message Y coordi- nates Add the following tag. Explanation Note B Variable number/ Specifies the byte type variable number.
Page 94 INFORM Explanation FS100 Control Instruction : DIALSB 6. S Variable number / LS Variable number / S [Array number] / LS [Array number]: Button character string Make sure to add the following tag for the first DIALSB in the DIALOG instruction.
Page 95: Operating Instruction
INFORM Explanation FS100 Operating Instruction : CLEAR Operating Instruction CLEAR SUBSET STANDARD EXPANDED Available Available Available Function In Data 1, the variable content from the specified number on, is cleared to 0 only by the amount specified in Data 2.
Page 96 INFORM Explanation FS100 Operating Instruction : CLEAR Explanation 1. B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array num- ber] /D Variable number /LD Variable number /D...
Page 97 INFORM Explanation FS100 Operating Instruction : CLEAR About the job call stack SUPPLE -MENT There are 12 stacks, and they store the called position. Stack level 1 Stack level 2 Stack level 3 Stack level 4 Job call Job A...
Page 98 INFORM Explanation FS100 Operating Instruction : CLEAR (3) CLEAR STACK All the job call stacks are cleared. JOB:1 JOB:2 JOB:3 JOB:4 MOVJ VJ=100.00 MOVJ VJ=100.00 MOVJ VJ=100.00 CLEAR STACK CALL JOB:2 CALL JOB:3 JUMP JOB:1 JUMP JOB:4 JOB:2 Cleared all...
Page 99: Inc
INFORM Explanation FS100 Operating Instruction : INC SUBSET STANDARD EXPANDED Available Available Available Function Adds one to the content of the specified variable. Construction B/LB/B[]/ Variable No. LB[] I/LI/ Variable No. I[]/LI[] D/LD/D[]/ Variable No. LD[] Explanation 1. B Variable number /LB Variable number /B [Array...
Page 100 INFORM Explanation FS100 Operating Instruction : INC Example (1) NOP SET B000 0 1 is repeatedly added to B000 MOVJ VJ=100.00 until it reaches 200. MOVJ VJ=50.00 1 is added to B000. INC B000 JUMP *1 IF B000<200 2-77...
Page 101: Dec
INFORM Explanation FS100 Operating Instruction : DEC SUBSET STANDARD EXPANDED Not available Available Available Function Subtracts 1 from a specified variable. Construction B/LB/B[]/ Variable No. LB[] I/LI/I[] Variable No. /LI[] D/LD/D[]/ Variable No. LD[] Explanation 1. B Variable number/LB Variable number/B [Array...
Page 102 INFORM Explanation FS100 Operating Instruction : DEC Example (1) NOP SET B000 200 1 is repeatedly subtracted MOVJ VJ=100.00 from B000 until it reaches 0. MOVJ VJ=50.00 1 is subtracted from B000. DEC B000 JUMP *1 IF B000=0 2-79...
Page 103: Set
INFORM Explanation FS100 Operating Instruction : SET SUBSET STANDARD EXPANDED Available Available Available Function Sets Data 2 to Data 1. Construction <Data 1> <Data 2> B/LB/B[]/ Variable No. LB[] I/LI/ Variable No. I[]/LI[] D/LD/D[]/ Variable No. LD[] R/LR/R[]/ Variable No.
Page 104 INFORM Explanation FS100 Operating Instruction : SET Byte type Integer type constant constant B/LB/B[]/ B/LB/B[]/ Variable No. Variable No. LB[] LB[] I/LI/I[] I/LI/I[] Variable No. Variable No. /LI[] /LI[] D/LD/D[]/ D/LD/D[]/ Variable No. Variable No. LD[] LD[] R/LR/R[]/ R/LR/R[]/ Variable No.
Page 105 INFORM Explanation FS100 Operating Instruction : SET Explanation 1. B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array num- ber] /D Variable number /LD Variable number /D...
Page 106 INFORM Explanation FS100 Operating Instruction : SET 2. Byte type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Vari- able number /LI Variable number /I [Array number] / LI [Array number] /D Variable number /LD Variable...
Page 107 INFORM Explanation FS100 Operating Instruction : SET 3. Integer type constant /B Variable number /LB Vari- able number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array num- ber] /LI [Array number] /D Variable number /LD Vari-...
Page 108 INFORM Explanation FS100 Operating Instruction : SET 4. Double precision type constant /B Variable number / LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array number] /D Variable num-...
Page 109 INFORM Explanation FS100 Operating Instruction : SET 5. Real type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Vari- able number /LI Variable number /I [Array number] / LI [Array number] /D Variable number /LD Variable...
Page 110 INFORM Explanation FS100 Operating Instruction : SET 6. Character type constant /S Variable number /LS Variable number /S [Array number] /LS [Array num- ber] When an S Variable number, LS Variable number, S [Array number], or LS [Array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
Page 111 INFORM Explanation FS100 Operating Instruction : SET Example (1) SET B000 0 0 is set in B000. (2) SET P000 P001 The content of P001 is set in P000. 2-88...
Page 112: Add
INFORM Explanation FS100 Operating Instruction : ADD SUBSET STANDARD EXPANDED Available Available Available Function Adds Data 1 and Data 2, and stores the result in Data 1. Construction Add <Data 1> <Data 2> B/LB/B[]/ Variable No. LB[] I/LI/I[] Variable No.
Page 113 INFORM Explanation FS100 Operating Instruction : ADD Byte type Integer type constant constant B/LB/B[]/ B/LB/B[]/ Variable No. Variable No. LB[] LB[] I/LI/I[] I/LI/I[] Variable No. Variable No. /LI[] /LI[] D/LD/D[]/ D/LD/D[]/ Variable No. Variable No. LD[] LD[] R/LR/R[]/ R/LR/R[]/ Variable No.
Page 114 INFORM Explanation FS100 Operating Instruction : ADD Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/ D Variable number/LD Variable number/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR [Array num-...
Page 115 INFORM Explanation FS100 Operating Instruction : ADD 2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Vari- able number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable num- ber/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR...
Page 116 INFORM Explanation FS100 Operating Instruction : ADD Explanation Note I Variable number/LI Specifies the number of the integer type variable to be <Data 2> Variable number/ added. I [Array number]/ LI [Array number] D Variable number/ Specified the number of the double-precision type <Data 2>...
Page 117 INFORM Explanation FS100 Operating Instruction : ADD 5. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array num- ber]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array num- ber]/R Variable number/LR Variable number/R [Array number]/LR [Array number] When an R Variable number, LR Variable number, R [Array number].
Page 118 INFORM Explanation FS100 Operating Instruction : ADD 7. BP Variable number/LBP Variable number/BP [Array number]/LBP [Array number] When a BP Variable number, LBP Variable number, BP [Array number], or LBP [Array number] is selected from the table in part 1 of this Explanation, add the following tag.
Page 119: Sub
INFORM Explanation FS100 Operating Instruction : SUB SUBSET STANDARD EXPANDED Not available Available Available Function Subtracts Data 2 from Data 1, and stores the result in Data 1. Construction SUB <Data 1> <Data 2> B/LB/B[]/ Variable No. LB[] I/LI/I[] Variable No.
Page 120 INFORM Explanation FS100 Operating Instruction : SUB Byte type Integer type constant constant B/LB/B[]/ B/LB/B[]/ Variable No. Variable No. LB[] LB[] I/LI/I[] I/LI/I[] Variable No. Variable No. /LI[] /LI[] D/LD/D[]/ D/LD/D[]/ Variable No. Variable No. LD[] LD[] R/LR/R[]/ R/LR/R[]/ Variable No.
Page 121 INFORM Explanation FS100 Operating Instruction : SUB Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/ D Variable number/LD Variable number/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR [Array num-...
Page 122 INFORM Explanation FS100 Operating Instruction : SUB 2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Vari- able number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable num- ber/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR...
Page 123 INFORM Explanation FS100 Operating Instruction : SUB Explanation Note I Variable number/ Specifies the number of the integer type variable to be <Data 2> LI Variable number/ subtracted. I [Array number]/ LI [Array number] D Variable number/ Specifies the number of the double-precision type <Data 2>...
Page 124 INFORM Explanation FS100 Operating Instruction : SUB 5. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array num- ber]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array num- ber]/R Variable number/LR Variable number/R [Array...
Page 125 INFORM Explanation FS100 Operating Instruction : SUB 7. BP Variable number/LBP Variable number/BP [Array number]/LBP [Array number] When a BP Variable number, LBP Variable number, BP [Array number], or LBP [Array number] is selected from the table in part 1 of this Explanation, add the following tag.
Page 126: Mul
INFORM Explanation FS100 Operating Instruction : MUL SUBSET STANDARD EXPANDED Not available Available Available Function Multiplies Data 1 by Data 2, and stores the result in Data 1. Construction MUL <Data 1> <Data 2> B/LB/B[]/ Variable No. LB[] I/LI/I[] Variable No.
Page 127 INFORM Explanation FS100 Operating Instruction : MUL Byte type Integer type constant constant B/LB/B[]/ B/LB/B[]/ Variable No. Variable No. LB[] LB[] I/LI/I[] I/LI/I[] Variable No. Variable No. /LI[] /LI[] D/LD/D[]/ D/LD/D[]/ Variable No. Variable No. LD[] LD[] R/LR/R[]/ R/LR/R[]/ Variable No.
Page 128 INFORM Explanation FS100 Operating Instruction : MUL Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/ D Variable number/LD Variable number/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR [Array num-...
Page 129 INFORM Explanation FS100 Operating Instruction : MUL 2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Vari- able number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable num- ber/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR...
Page 130 INFORM Explanation FS100 Operating Instruction : MUL Explanation Note I Variable number/ Specifies the number of the integer type variable to be <Data 2> LI Variable number/ multiplied. I [Array number]/ LI [Array number] D Variable number/ Specifies the number of the double-precision type <Data 2>...
Page 131 INFORM Explanation FS100 Operating Instruction : MUL 5. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array num- ber]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array num- ber]/R Variable number/LR Variable number/R [Array...
Page 132 INFORM Explanation FS100 Operating Instruction : MUL Element of position type variable SUPPLE The element of position type variable differs depending on -MENT the type of variable as follows. • Robot axis position type variable <Pulse type> (1): 1st axis data, (2): 2nd axis data, (3): 3rd axis data, (4) 4th...
Page 133: Div
INFORM Explanation FS100 Operating Instruction : DIV SUBSET STANDARD EXPANDED Not available Available Available Function Divides Data 1 by Data 2, and stores the result in Data 1. Construction DIV <Data 1> <Data 2> B/LB/B[]/ Variable No. LB[] I/LI/I[] Variable No.
Page 134 INFORM Explanation FS100 Operating Instruction : DIV Byte type Integer type constant constant B/LB/B[]/ B/LB/B[]/ Variable No. Variable No. LB[] LB[] I/LI/I[] I/LI/I[] Variable No. Variable No. /LI[] /LI[] D/LD/D[]/ D/LD/D[]/ Variable No. Variable No. LD[] LD[] R/LR/R[]/ R/LR/R[]/ Variable No.
Page 135 INFORM Explanation FS100 Operating Instruction : DIV Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/ D Variable number/LD Variable number/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR [Array num-...
Page 136 INFORM Explanation FS100 Operating Instruction : DIV 2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Vari- able number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable num- ber/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR...
Page 137 INFORM Explanation FS100 Operating Instruction : DIV Explanation Note I Variable number/ Specifies the number of the integer type variable by <Data 2> LI Variable number/ which Data 1 is divided. I [Array number]/ LI [Array number] D Variable number/ Specifies the number of the double-precision type <Data 2>...
Page 138 INFORM Explanation FS100 Operating Instruction : DIV 5. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array num- ber]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array num- ber]/R Variable number/LR Variable number/R [Array...
Page 139 INFORM Explanation FS100 Operating Instruction : DIV 7. D Variable number/LD Variable number/D [Array number]/LD [Array number]/Double-precision type constant When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP Variable number, LBP Variable number, BP [Array...
Page 140: Cnvrt
INFORM Explanation FS100 Operating Instruction : CNVRT CNVRT SUBSET STANDARD EXPANDED Not available Available Available Function Converts the pulse type position type variable of Data 2 to the XYZ type position type variable in the specified coordinate system, and stores the result in Data 1.
Page 141 INFORM Explanation FS100 Operating Instruction : CNVRT Expanded position type variables SUPPLE The expanded position type variable is a position type vari- -MENT able that depends on the control group in the job. <Example> • When the control group is R1: PX000 indicates P000.
Page 142 INFORM Explanation FS100 Operating Instruction : CNVRT Example (1) CNVRT PX000 PX001 BF For the job R1, the pulse type position data of P001 is converted to the XYZ type position data in the base coordinate system and stores the converted data in P000.
Page 143: And
INFORM Explanation FS100 Operating Instruction : AND SUBSET STANDARD EXPANDED Not available Available Available Function Carries out logical multiplication of Data 1 and Data 2, and stores the result in Data 1. Construction AND <Data 1> <Data 2> B/LB/B[]/ B/LB/B[]/ Variable No.
Page 144 INFORM Explanation FS100 Operating Instruction : AND Example (1) SET B000 5 SET B010 1 AND B000 B010 Carries out the logical multiplication of B000 (0000 0101) and B010 (0000 0001), and stores the result (0000 0001=1) in B000. 2-121...
Page 145 INFORM Explanation FS100 Operating Instruction : OR SUBSET STANDARD EXPANDED Not available Available Available Function Carries out the logical sum of Data 1 and Data 2, and stores the result in Data 1. Construction OR <Data 1> <Data 2> B/LB/B[]/ B/LB/B[]/ Variable No.
Page 146 INFORM Explanation FS100 Operating Instruction : OR Example (1) SET B000 5 SET B010 10 OR B000 B010 Carries out the logical sum of B000 (0000 0101) and B010 (0000 1010), and stores the result (0000 1111=15) in B000. 2-123...
Page 147: Not
INFORM Explanation FS100 Operating Instruction : NOT SUBSET STANDARD EXPANDED Not available Available Available Function Carries out the logical negation of Data 2, and stores the result in Data 1. Construction NOT <Data 1> <Data 2> B/LB/B[]/ B/LB/B[]/ Variable No.
Page 148 INFORM Explanation FS100 Operating Instruction : NOT Example (1) SET B000 0 SET B010 1 NOT B000 B010 Carries out the logical negation of B010 (0000 0001), and stores the result (1111 1110=254) in B000. 2-125...
Page 149: Xor
INFORM Explanation FS100 Operating Instruction : XOR SUBSET STANDARD EXPANDED Not available Available Available Function Carries out the logical exclusive OR of Data 1 and Data 2, and stores the result in Data 1. Construction XOR <Data 1> <Data 2>...
Page 150 INFORM Explanation FS100 Operating Instruction : XOR Example (1) SET B000 1 SET B010 5 XOR B000 B010 Carries out the exclusive OR of B000 (0000 0001) and B010 (0000 0101), and stores the result (0000 0100=4) in B000. 2-127...
Page 151: Mframe
INFORM Explanation FS100 Operating Instruction : MFRAME MFRAME SUBSET STANDARD EXPANDED Not available Available Available Function Creates the user coordinates according to three types of position data; Data 1, Data 2, and Data 3. Data 1 indicates the position data of the defined point ORG; Data 2 indicates the position data of the defined point XX;...
Page 152 INFORM Explanation FS100 Operating Instruction : MFRAME 2. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. Explanation Note PX Variable number/ Specifies the number of the expanded position type <Data 1> LPX Variable variable where the position data of the user number/ coordinate’s defined point ORG has been stored.
Page 153: Sete
INFORM Explanation FS100 Operating Instruction : SETE SETE SUBSET STANDARD EXPANDED Not available Available Available Function Sets Data 2 in the element of position type variable of Data 1. Construction SETE <Data 1> (Element number) <Data 2> P/LP/P[]/ SETE Variable No.
Page 154 INFORM Explanation FS100 Operating Instruction : SETE 2. (Element number) Add the following tag. Explanation Note (Element number) Specifies the element of the position type variable to be Element No.: 1 to 255 set. Variable B/LB can be used. 3. Double-precision type constant/D Variable number/...
Page 155: Gete
INFORM Explanation FS100 Operating Instruction : GETE GETE SUBSET STANDARD EXPANDED Not available Available Available Function Stores the element of position type variable of Data 2 in Data 1. Construction GETE <Data 1> <Data 2> (Element number) D/LD/D[]/ P/LP/P[]/ GETE Variable No.
Page 156 INFORM Explanation FS100 Operating Instruction : GETE 2. P Variable number/LP Variable number/P [Array number]/LP [Array number]/BP Variable number/LBP Variable number/BP [Array number]/LBP [Array num- ber]/EX Variable number/LEX Variable number/EX [Array number]/LEX [Array number] Choose one of the tags from the following table.
Page 157: Gets
INFORM Explanation FS100 Operating Instruction : GETS GETS SUBSET STANDARD EXPANDED Not available Available Available Function Stores the system variable of Data 2 in Data 1. Construction GETS <Data 1> <Data 2> B/LB/B[]/ GETS Variable No. $B/$B[] Variable No. LB[] I/LI/I[] Variable No.
Page 158 INFORM Explanation FS100 Operating Instruction : GETS Explanation 1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/ D Variable number/LD Variable number/D [Array number]/LD [Array number]/R Variable number/LR Variable number/R [Array number]/LR [Array num-...
Page 159 INFORM Explanation FS100 Operating Instruction : GETS System variable SUPPLE -MENT The system variables are written by the controller system and can be referred only by a GETS instruction. The following system variables are available. System Type Explanation Variable Detected /Not detected by the optional SRCH...
Page 160 INFORM Explanation FS100 Operating Instruction : GETS Continued SUPPLE System -MENT Type Explanation Variable $PX150 RIN#(1)’s detected position by the optional NSRCH instruction (XYZ type) $PX199 $PX200 RIN#(2)’s detected position by the optional NSRCH instruction (pulse type) $PX249 $PX250 RIN#(2)’s detected position by the optional NSRCH...
Page 161 INFORM Explanation FS100 Operating Instruction : GETS 2. $B Variable number/$B [Array number] When a B Variable number, LB Variable number, B [Array number], or LB [Array number] is selected from the table in part 1 of this Explanation, add the following tag.
Page 162 INFORM Explanation FS100 Operating Instruction : GETS 6. $PX Variable number/$PX [Array number] When a PX Variable number, LPX Variable number, PX [Array number], or LPX [Array number] is selected from the table in part 1 of this Explanation, add the following tag.
Page 163: Sqrt
INFORM Explanation FS100 Operating Instruction : SQRT SQRT SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the square root of Data 2, and stores the result in Data 1. Construction SQRT <Data 1> <Data 2> R/LR/R[]/ R/LR/R[]/ SQRT Variable No.
Page 164 INFORM Explanation FS100 Operating Instruction : SQRT Example (1) SQRT R000 2 1.414214E + 00 is stored in R000. 2-141...
Page 165: Sin
INFORM Explanation FS100 Operating Instruction : SIN SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the sine of Data 2, and stores the result in Data 1. Construction SIN <Data 1> <Data 2> R/LR/R[]/ R/LR/R[]/ Variable No. Variable No.
Page 166 INFORM Explanation FS100 Operating Instruction : SIN Example (1) SIN R000 60 8.660254E - 01 is stored in R000. 2-143...
Page 167: Cos
INFORM Explanation FS100 Operating Instruction : COS SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the cosine of Data 2, and stores the result in Data 1. Construction COS <Data 1> <Data 2> R/LR/R[]/ R/LR/R[]/ Variable No. Variable No.
Page 168 INFORM Explanation FS100 Operating Instruction : COS Example (1) COS R000 60 5.000000E - 01 is stored in R000. 2-145...
Page 169: Atan
INFORM Explanation FS100 Operating Instruction : ATAN ATAN SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the arc tangent of Data 2, and stores the result in Data 1. Construction ATAN <Data 1> <Data 2> R/LR/R[]/ R/LR/R[]/ ATAN Variable No.
Page 170 INFORM Explanation FS100 Operating Instruction : ATAN Example (1) ATAN R000 60 8.904516E + 01 is stored in R000. 2-147...
Page 171: Mulmat
INFORM Explanation FS100 Operating Instruction : MULMAT MULMAT SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the matrix multiplication of Data 2 and Data 3, and stores the result in Data 1. Construction MULMAT <Data 1> <Data 2> <Data 3>...
Page 172 The amount of shift for a three-dimensional shift can be obtained by using the MULMAT and INVMAT instructions. The instructions, exclusive to the FS100, to obtain the shift amount are used for the optional three-dimensional shift function. However, the amount of the three-dimensional shift can be also obtained by using the standard instructions, MULMAT and INVMAT.
Page 173: Invmat
INFORM Explanation FS100 Operating Instruction : INVMAT INVMAT SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the inverse matrix of Data 2, and stores the result in Data 1. Construction INVMAT <Data 1> <Data 2> P/LP/P[]/ P/LP/P[]/ INVMAT Variable No.
Page 174 INFORM Explanation FS100 Operating Instruction : INVMAT Example (1) MOVL P010 V=500 GETS PX020 $PX001 Stores the current XYZ type value in P020. INVMAT P021 P010 Calculates the inverse matrix of the taught position. MULMAT P023 P020 P021 The amount of the three-dimensional...
Page 175: Setreg
INFORM Explanation FS100 Operating Instruction : SETREG SETREG SUBSET STANDARD EXPANDED Not available Available Available Function Copies the specified integer type variable data into the register. Construction MREG SETREG Register No. LOW/HIGH I/LI/I[]/LI[] Variable No. Integer type constant Explanation 1. MREG# (Register number)
Page 176 INFORM Explanation FS100 Operating Instruction : SETREG 3. I Variable number/LI Variable number/I [Array num- ber]/LI [Array number] Explanation Note I Variable number/ Specifies the data number to be saved in the register. LI Variable number/ I [Array number]/ LI [Array number] Integer type variable Input the data to be saved in the register.
Page 177: Getreg
INFORM Explanation FS100 Operating Instruction : GETREG GETREG SUBSET STANDARD EXPANDED Not available Available Available Function Copies the specified register data into the integer type variable. Construction GETREG I/LI/I[]/LI[] MREG# Variable No. Register No. LOW/HIGH Explanation 1. I Variable number/LI Variable number/I [Array num-...
Page 178: Move Instruction
INFORM Explanation FS100 Move Instruction : MOVJ Move Instruction MOVJ SUBSET STANDARD EXPANDED Available Available Available Function Moves to the teaching position by joint interpolation. Construction The tag which can be used is limited by the type of the job.
Page 179 INFORM Explanation FS100 Move Instruction : MOVJ Positioning Joint speed (%) level SPDL= Speed level Amount of Amount of the station axis MTE= T axis rotation rotation Acceleration adjustment NWAIT UNTIL ACC= ratio (%) ENWAIT NSRCH +MOVJ Deceleration DEC= adjustment...
Page 180 INFORM Explanation FS100 Move Instruction : MOVJ Table 2-2: Availability of Each Tag Control Group Note Robot teaching     ×   position file number     ×   P/LP/P[]/LP[] Station teaching  ×...
Page 181 INFORM Explanation FS100 Move Instruction : MOVJ Explanation 1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] /Station teaching position file num- ber /EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number] Choose one of the tags from the following table.
Page 182 INFORM Explanation FS100 Move Instruction : MOVJ 2. Base Teaching Position File Number When a robot teaching position file number is selected from the table in part 1 of this Explanation, add the following tag. Explanation Note Base teaching The base axis teaching position in each step is written...
Page 183 INFORM Explanation FS100 Move Instruction : MOVJ 5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable number, P [Array number], or LBP [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added.
Page 184 INFORM Explanation FS100 Move Instruction : MOVJ 9. PL=Position level /SPDL=Speed level Choose one of the tags from the following table. Explanation Note PL=Position level Specifies the position level. Level: 0 to 8 The approach level when the manipulator passes the...
Page 185 INFORM Explanation FS100 Move Instruction : MOVJ 10. MT=Amount of the T axis rotation The following tag can be added or omitted. Explanation Note MT=Amount of the T Specifies the amount of the T axis rotation. Amount of rotation: axis rotation...
Page 186 INFORM Explanation FS100 Move Instruction : MOVJ 13. UNTIL/NSRCH Choose one of the tags from the following table. Explanation Note UNTIL Specifies the UNTIL instruction. Refer to UNTIL of The UNTIL instruction is a tag instruction by which the chapter 2.6 “Instruction...
Page 187 INFORM Explanation FS100 Move Instruction : MOVJ Acceleration adjustment ratio SUPPLE -MENT The acceleration adjustment ratio (ACC) reduces the amount of acceleration in the specified ratio. Using this function can reduce the load inertia on the tool and the workpiece.
Page 188 INFORM Explanation FS100 Move Instruction : MOVJ Example (1) MOVJ P000 VJ=50.00 Move from the manipulator’s waiting position to step 1. Move by joint interpolation at a speed of 50%. The position in Step 1 is registered to the P variable no. 0.
Page 189: Movl
INFORM Explanation FS100 Move Instruction : MOVL MOVL SUBSET STANDARD EXPANDED Available Available Available Function Moves to the teaching position by linear interpolation. Construction The tag which can be used is limited by the type of the job. Robot teaching...
Page 190 INFORM Explanation FS100 Move Instruction : MOVL Amount of MTE= NWAIT station axis rotation ENWAIT Acceleration UNTIL ACC= adjustment ratio (%) SRCH ASRCH HPSRCH NSRCH +MOVJ Deceleration DEC= adjustment ratio (%) +MOVL +MOVC Table 2-3: Job Type and Control Group...
Page 191 INFORM Explanation FS100 Move Instruction : MOVL Table 2-4: Availability of Each Tag Control Group Note Robot teaching       position file number       P/LP/P[]/LP[] Base axis teaching   ...
Page 192 INFORM Explanation FS100 Move Instruction : MOVL Explanation 1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] Choose one of the tags from the following table. Explanation Note Robot teaching The robot axis teaching position in each step is written...
Page 193 INFORM Explanation FS100 Move Instruction : MOVL 5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added.
Page 194 INFORM Explanation FS100 Move Instruction : MOVL 8. PL=Position level /CR=Corner radius /SPDL=Speed level Choose one of the tags from the following table. Explanation Note PL=Position level Specifies the position level. Level: 0 to 8 The position level is a level of the approach when the...
Page 195 INFORM Explanation FS100 Move Instruction : MOVL 9. MTE= Amount of station axis rotation The following tag can be added or omitted. Explanation Note MTE=Amount of Specifies the amount of station axis rotation. Amount of rotation: station axis rotation The operation of the station axis can be specified by the -32768 to 32767 number of rotations.
Page 196 INFORM Explanation FS100 Move Instruction : MOVL Explanation Note ASRCH Specifies the ASRCH instruction. Available only with the The ASRCH instruction detects input signal’s voltage. optional general-purpose sensor function. Refer to General- purpose Sensor function for details. HPSRCH Specifies the HPSRCH instruction.
Page 197 INFORM Explanation FS100 Move Instruction : MOVL 14. +MOVJ/+MOVL/+MOVC Choose one of the tags from the following table. Explanation Note +MOVJ Specifies the joint interpolation motion instruction on the Available only with the master manipulator’s side. optional coordinate function. Refer to the independent/coordinated function.
Page 198: Movc
INFORM Explanation FS100 Move Instruction : MOVC MOVC SUBSET STANDARD EXPANDED Available Available Available Function Moves to the teaching position by circular interpolation. Construction The tag which can be used is limited by the type of the job. Robot teaching...
Page 199 INFORM Explanation FS100 Move Instruction : MOVC Amount of station axis MTE= NWAIT rotation ENWAIT Acceleration Deceleration ACC= DEC= adjustment adjustment ratio (%) ratio (%) +MOVJ COORD= +MOVL +MOVC Table 2-5: Job Type and Control Group Job Type Control Group...
Page 200 INFORM Explanation FS100 Move Instruction : MOVC Table 2-6: Availability of Each Tag Control Group Note Robot teaching       position file number       P/LP/P[]/LP[] Base teaching    ×...
Page 201 INFORM Explanation FS100 Move Instruction : MOVC Example 1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] Choose one of the tags from the following table. Explanation Note Robot teaching The robot axis teaching position in each step is written...
Page 202 INFORM Explanation FS100 Move Instruction : MOVC 5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added.
Page 203 INFORM Explanation FS100 Move Instruction : MOVC 8. PL=Position level /SPDL=Speed level Choose one of the tags from the following table. Explanation Note PL=Position level Specifies the position level. Level: 0 to 8 The position level is a level of the approach when the...
Page 204 INFORM Explanation FS100 Move Instruction : MOVC 11. ACC=Acceleration adjustment ratio The following tag can be added or omitted. Explanation Note ACC=Acceleration Specifies the acceleration adjustment ratio. Acceleration adjustment adjustment ratio The ACC instruction reduces the amount of ratio: 20% to 100% acceleration in the specified ratio.
Page 205 INFORM Explanation FS100 Move Instruction : MOVC 13. COORD=Arc attitude control specification The following tag can be added or omitted. Explanation Note COORD=Arc attitude Specifies the attitude control of arc. control specification This is not usually needed, but depending on teaching, the intended circular motion may not be performed.
Page 206 INFORM Explanation FS100 Move Instruction : MOVC 14. FPT=Arc end-point setting The following tag can be added or omitted. Explanation Note FPT=Arc end-point Specifies the end-point of the arc (the point at which the setting curvature of the arc is to be changed).
Page 207 INFORM Explanation FS100 Move Instruction : MOVC 15. +MOVJ/+MOVL/+MOVC Choose one of the tags from the following table. Explanation Note +MOVJ Specifies the joint interpolation motion instruction on the Available only with the master manipulator’s side. optional coordinate function. Refer to the independent/coordinated function.
Page 208: Imov
INFORM Explanation FS100 Move Instruction : IMOV IMOV SUBSET STANDARD EXPANDED Available Available Available Function Moves by linear interpolation from the current position for the specified incremental value. Construction The tag which can be used is limited by the type of the job.
Page 209 INFORM Explanation FS100 Move Instruction : IMOV UNTIL SRCH User NSRCH coordinate No. Acceleration Deceleration ACC= DEC= adjustment adjustment ratio (%) ratio (%) +IMOV Table 2-7: Job Type and Control Group Job Type Control Group Remarks Single One manipulator (standard)
Page 210 INFORM Explanation FS100 Move Instruction : IMOV Table 2-8: Availability of Each Tag Control Group Note     ×   P/LP/P[]/LP[]  × × × × × × EX/LEX/EX[]/LEX[] ×  ×  ×  × BP/LBP/BP[]/LBP[] ×...
Page 211 INFORM Explanation FS100 Move Instruction : IMOV Explanation 1. P Variable number /LP Variable number /P [Array number] /LP [Array number] /EX Variable number / LEX Variable number /EX [Array number] /LEX [Array number] Choose one of the tags from the following table.
Page 212 INFORM Explanation FS100 Move Instruction : IMOV 4. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 1 of this Explanation, the following tag can be added.
Page 213 INFORM Explanation FS100 Move Instruction : IMOV 7. NWAIT The following tag can be added or omitted. Explanation Note NWAIT Specifies the NWAIT instruction. The NWAIT instruction carries out the instructions excluding the move instruction from that step on, at the same as time the manipulator is carrying out that step.
Page 214 INFORM Explanation FS100 Move Instruction : IMOV 10. ACC=Acceleration adjustment ratio The following tag can be added or omitted. Explanation Note ACC=Acceleration Specifies the acceleration adjustment ratio. Acceleration adjustment adjustment ratio The ACC instruction reduces the amount of ratio: 20% to 100% acceleration in the specified ratio.
Page 215: Speed
INFORM Explanation FS100 Move Instruction : SPEED SPEED SUBSET STANDARD EXPANDED Available Available Available Function Sets the playback speed. The manipulator operates at the speed specified in the SPEED instruction when the speed is not specified in the move instruction.
Page 216 INFORM Explanation FS100 Move Instruction : SPEED Explanation 1. VJ=Joint speed The following tag can be added or omitted. Explanation Note VJ=Joint speed Specifies the joint speed. Speed: 0.01% to The joint speed is shown in the ratio to the highest 100.00%...
Page 217 INFORM Explanation FS100 Move Instruction : SPEED Example (1) NOP MOVJ VJ=100.00 Moves at the joint speed MOVL V=138 100.00%. Moves at the control point SPEED VJ=50.00 V=276 VR=30.0 speed 138cm/min. Moves at the joint speed MOVJ MOVL 50.00%. Moves at the control point MOVL VR=60.0...
Page 218: Refp
INFORM Explanation FS100 Move Instruction : REFP REFP SUBSET STANDARD EXPANDED Available Available Available Function It is an instruction to register the position data referred to in a job. The position data registered by REFP can be stored in the position variable by GETS instruction.
Page 219 INFORM Explanation FS100 Move Instruction : REFP Table 2-11: Job Type and Control Group Job Type Control Group Remarks Single One manipulator (standard) Single One manipulator with base axis Single One manipulator with station axis Single One manipulator with base and station axes...
Page 220 INFORM Explanation FS100 Move Instruction : REFP 2. RBn/STn Choose one of the tags from the following table. Explanation Note Specifies the robot to which the reference point is to be n: 1 to 2 input. RB1: Robot 1 Specifies the station to which the reference point is to n: 1 to 3 be input.
Page 221 INFORM Explanation FS100 Move Instruction : REFP 6. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 3 of this Explanation, the following tag can be added.
Page 222: Shift Instruction
INFORM Explanation FS100 Shift Instruction : SFTON Shift Instruction SFTON SUBSET STANDARD EXPANDED Available Available Available Function Begins the parallel shift operation. The amount of the parallel shift is set in a positional variable by the increment value of X, Y, and Z in each coordinate system.
Page 223 INFORM Explanation FS100 Shift Instruction : SFTON Table 2-13: Job Type and Control Group Job Type Control Group Remarks Single One manipulator (standard) Single One manipulator with base axis Single One manipulator with station axis Single One manipulator with base and station axes...
Page 224 INFORM Explanation FS100 Shift Instruction : SFTON 2. P Variable number /LP Variable number /P [Array number] /LP [Array number] /BP Variable number / LBP Variable number /BP [Array number] /LBP [Array number] /EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number] Choose one of the tags from the following table.
Page 225 INFORM Explanation FS100 Shift Instruction : SFTON 5. BF/RF/TF/UF# (User coordinate number) When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is selected from the table in part 2 of this Explanation, choose one of the tags from the following table.
Page 226: Sftof
INFORM Explanation FS100 Shift Instruction : SFTOF SFTOF SUBSET STANDARD EXPANDED Available Available Available Function Ends the parallel shift operation. Construction The tags to be added are decided according to the type of the job. SFTOF Table 2-15: Job Type and Control Group...
Page 227 INFORM Explanation FS100 Shift Instruction : SFTOF Explanation 1. RBn/ST Choose one of the tags from the following table. Explanation Note Specifies the robot that is to end the shift operation. n: 1 to 2 RB1: Robot 1 Ends the station axis shift operation.
Page 228: Mshift
INFORM Explanation FS100 Shift Instruction : MSHIFT MSHIFT SUBSET STANDARD EXPANDED Not available Available Available Function Calculates the amount of the shift in the specified coordinate system according to Data 2 and Data 3 and stores the result in Data 1.
Page 229 INFORM Explanation FS100 Shift Instruction : MSHIFT Explanation 1. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. Explanation Note PX Variable number/ Specifies the number of the expanded position variable <Data 1> LPX Variable to store the calculated shift.
Page 230 INFORM Explanation FS100 Shift Instruction : MSHIFT 4. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number] Add the following tag. Explanation Note PX Variable number/ Specifies the expanded position type variable number <Data 3> LPX Variable of the target position to calculate the amount of the number/ shift.
Page 231: Instruction Which Adheres To An Instruction
INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF Instruction Which Adheres to an Instruction SUBSET STANDARD EXPANDED Available Available Available Function Evaluates the various conditions during operation. This instruction is added after other instructions for processing. Construction IF <Comparison element 1>...
Page 232 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF Byte type constant <> B/LB/B[]/ Variable No. LB[] > >= I/LI/ Variable No. I[]/LI[] < D/LD/D[]/ <= Variable No. LD[] R/LR/R[]/ Variable No. LR[] Integer type constant <> B/LB/B[]/ Variable No.
Page 233 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF Real type constant <> B/LB/B[]/ Variable No. LB[] > >= I/LI/ Variable No. I[]/LI[] < D/LD/D[]/ <= Variable No. LD[] R/LR/R[]/ Variable No. LR[] Explanation 1. IN# (Input number) /IG# (Input group number) /B...
Page 234 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF 2. = When an IN#(Input number) is selected from the table in part 1 of this Explanation, add the following tag. Explanation Note It is equal. 3. B Variable number /LB Variable number /B [Array...
Page 235 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF 5. B Variable number /LB Variable number /B [Array number] /LB [Array number] /ON /OFF When an IG#(Input group number) is selected from the table in part 1 of this Explanation, choose one of the tags from the following table after “=”...
Page 236 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF Explanation Note I Variable number/ Specifies the integer type variable number which <Comparison element 2> LI Variable number/ becomes a comparison condition. I [Array number]/ LI [Array number] D Variable number/ Specifies the double precision type variable number <Comparison element 2>...
Page 237 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF 9. Integer type constant /B Variable number /LB Vari- able number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array num- ber] /LI [Array number] /D Variable number /LD Vari-...
Page 238 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF 10. =/<>/>/>=/</<= When a D Variable number, LD Variable number, D [Array number] or LD [Array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
Page 239 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF 12. =/<>/>/>=/</<= When an R Variable number, LR Variable number, R [Array number] or LR [Array number] is selected from the table in part 1 of this Explanation, choose one of the tags from the following table.
Page 240 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : IF Example (1) SET B000 1 JUMP B000 IF IN#(14)=ON It jumps to Job 1 if input signal No.14 is turned ON. (2) JUMP *2 IF D005<=D006 Jumps to *2 if D005 is below D006.
Page 241: Until
INFORM Explanation FS100 Instruction Which Adheres to an Instruction : UNTIL UNTIL SUBSET STANDARD EXPANDED Not available Available Available Function Evaluates the input conditions during operation. This instruction is added after other instructions for processing. Construction B/LB/B[]/ UNTIL Input No.
Page 242 INFORM Explanation FS100 Instruction Which Adheres to an Instruction : UNTIL 3. B Variable number/LB Variable number/B [Array number]/LB [Array number]/ON/OFF. Choose one of the tags from the following table after “=” is selected from the table in part 2 of this Explanation.
Page 243: Enwait
INFORM Explanation FS100 Instruction Which Adheres to an Instruction : ENWAIT ENWAIT SUBSET STANDARD EXPANDED Parameter Available Available Available S2C714 Function Carries out, in advance for the specified time, an instruction other than a move instruction on the instruction line next to the move instruction that was added with ENWAIT.
Page 244: General-Purpose Instruction
INFORM Explanation FS100 General-purpose Instruction : TOOLON General-purpose Instruction TOOLON SUBSET STANDARD EXPANDED APPLICATIONS Available Available Available General-purpose Function Turns ON the work instruction. Construction TOOLON UNITn Explanation 1. UNITn Choose one of the tags from the Unit (Equipment). These tags are valid for a system with multiple applications in which two or more general- purpose applications are included.
Page 245: Toolof
INFORM Explanation FS100 General-purpose Instruction : TOOLOF TOOLOF SUBSET STANDARD EXPANDED APPLICATIONS Available Available Available General-purpose Function Turns OFF the work instruction. Construction TOOLOF UNITn Explanation 1. UNITn Choose one of the tags from the Unit (Equipment). These tags are valid for a system with multiple applications in which two or more general- purpose applications are included.
Page 246 FOR INFORM LANGUAGE HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

YASKAWA FS100 Instructions Manual

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