YASKAWA DX100 Operator's Manual page 540

DX100
MOVS Function
Additional
Item
Example
IMOV Function
Additional
Item
Example
REFP Function
Additional
Item
Example
SPEED Function
Additional
Item
Example
11 Table of Basic Instructions
11.1 Move Instructions
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
Defines a reference point (e.g. wall point for weaving).
<reference point number>
Position data,
Base axis position data,
Station axis position data
REFP 1
Sets play speed.
VJ=<joint speed>,
V=<TCP speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
SPEED VJ=50.00
11-2
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%
wall point 1 for
weaving :1
wall point 2 for
weaving :2
These data do not
appear on the
screen.
VJ:Same as
MOVJ.
V,VR,VE:
Same as
MOVL.
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