YASKAWA FS100 - Page 184

2 INFORM Explanation
FS100 2.4 Move Instruction : MOVJ
2-161
9. PL=Position level /SPDL=Speed level
Choose one of the tags from the following table.
No Tag Explanation Note
12 PL=Position level Specifies the position level.
The approach level when the manipulator passes the
position where the teaching procedure was performed
is called a positioning level.
Level: 0 to 8
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.
13 SPDL=Speed level Specifies the speed level.
The speed level is the tag for the robot to end the
execution of the move instruction in the state of servo
float control, and to confirm the state which has
stopped. The operation ends when the speed feedback
pulse of all axes goes below a constant value, and the
manipulator is considered to have stopped.
Level: Only 0
Available only with the
optional servo-float
function.
Refer to the servo-float
function for details.
SUPPLE
-MENT
Position level
The approach level when the manipulator passes the position
where the teaching procedure was performed is called a
position level.
The approach level is set by the following parameters. (posi-
tion zone)
Position level 1: S1CxG33(μm)
Position level 2: S1CxG34(μm)
Position level 3: S1CxG35(μm)
Position level 4: S1CxG36(μm)
Position level 5: SICxG37 (μm)
Position level 6: SICxG38 (μm)
Position level 7: SICxG39 (μm)
Position level 8: SICxG40 (μm)
P2
P1
P3
Positioning level 0
Positioning level 8
Positioning level 3
Positioning level 2
Positioning level 1
S1CxG33
S1CxG34
S1CxG35
S1CxG40