4-56 Programming
4Basic operations
Note) Upward movement is designated at a position along the Z axis of the TOOL
coordinate system, and the direction is designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Installation
Manual/ Robot arm setup and maintenance", and confirm the Z axis direction of
the TOOL coordinate system. Then, designate the correct sign (direction) that
matches the robot being used.
Designating the reverse direction could lead to interference with the peripheral
devices and damage.
Generally (in the default state), the hand retract direction is the "-" sign with the
vertical articulate type robot, and the "+" sign is the robot's upward direction with
the other robots. "+20" in the command line is a example in horizontal multiple-
jointed type robot.
◇◆◇ Program format ◇◆◇
The program format is configured of the "step No. command parameter affixed to command" as shown in Fig. 4-
10.
Example) １
Ｍ ｏ ｖ Ｐ Ｗ Ａ Ｉ Ｔ
step No. Command Parameter affixed to command
The program is executed in order from the step No. with the smallest number.
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