2 INFORM Explanation
FS100 2.4 Move Instruction : MOVJ
2-163
13. UNTIL/NSRCH
Choose one of the tags from the following table.
14. ACC=Acceleration adjustment ratio
The following tag can be added or omitted.
15. DEC=Deceleration adjustment ratio
The following tag can be added or omitted.
No Tag Explanation Note
18 UNTIL Specifies the UNTIL instruction.
The UNTIL instruction is a tag instruction by which the
condition of the input signal is evaluated during
operation.
When the condition of the input signal is full, the robot
executes the next instruction.
Refer to UNTIL of
chapter 2.6 “Instruction
Which Adheres to an
Instruction” at
page 2-218.
19 NSRCH Specifies the NSRCH instruction.
The NSRCH instruction carries out the position
detection without stopping the manipulator’s motion.
Available only with the
optional search-in-
motion function.
No Tag Explanation Note
20 ACC=Acceleration
adjustment ratio
Specifies the acceleration adjustment ratio.
The ACC instruction reduces the amount of
acceleration in the specified ratio.
Acceleration adjustment
ratio: 20% to 100%
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/LD/LD[]
can be used.
No Tag Explanation Note
21 DEC=Deceleration
adjustment ratio
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
Deceleration adjustment
ratio: 20% to 100%
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/LD/LD[]
can be used.
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