2 INFORM Explanation
FS100 2.4 Move Instruction : MOVJ
2-156
15
16 18
14
I
END
MTE=
Amount of
station axis
rotation
VJ=
G
Joint speed (%)
PL=
Positioning
level
SPDL=
Speed level
MT=
Amount of the
T axis rotation
H
NWAIT UNTIL
H I
12
13
11
17
ENWAIT
19
NSRCH
20
ACC=
Acceleration
adjustment
ratio (%)
J
J
21
DEC=
Deceleration
adjustment
ratio (%)
+MOVJ
+MOVL
+MOVC
23
22
24
Table 2-1: Job Type and Control Group
No. Job Type Control Group Remarks
1 Single One manipulator (standard)
2 Single One manipulator with base axis
3 Single One manipulator with station axis
4 Single One manipulator with base and station axes
5 Single Station axis only
6 Coordinated Two manipulators Optional
7 Coordinated Two manipulators with base axis Optional
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