YASKAWA FS100 - Page 181

2 INFORM Explanation
FS100 2.4 Move Instruction : MOVJ
2-158
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.
Explanation
No Tag Explanation Note
1 Robot teaching
position file number
The robot axis teaching position in each step is written
in this file unconditionally when the step is taught. This
teaching position cannot be edited.
On the job display, this
tag is not displayed.
2 P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Specifies the position variable number of the robot axis.
Moves to the position data set in the variable of the
specified number.
Variable number:
000 to 127
3 Station teaching
position file number
The station axis teaching position in each step is written
in this file unconditionally when the step is taught. This
teaching position cannot be edited.
On the job display, this
tag is not displayed.
4 EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
Specifies the position variable number of the station
axis.
Moves to the position data set in the variable of the
specified number.
Variable number:
000 to 127
SUPPLE
-MENT
Position Variables
There are the following three kinds of position variables.
Robot axis : P000-P127
Base axis : BP000-BP127
Station axis : EX000-EX127
A position variable can store the position data as pulse type
or XYZ type.
SUPPLE
-MENT
Local Variables and Arrangement Variables
Local variables and arrangement variables are available only
for the expanded instruction set.
P000 and P[0] show the same one.