2 INFORM Explanation
FS100 2.4 Move Instruction : MOVC
2-180
8. PL=Position level /SPDL=Speed level
Choose one of the tags from the following table.
9. MTE=Amount of station axis rotation
The following tag can be added or omitted.
10. NWAIT/ENWAIT
The following tag can be added or omitted.
No Tag Explanation Note
11 PL=Position level Specifies the position level.
The position level is a level of the approach when the
manipulator passes the position where the teaching
procedure was performed.
Level: 0 to 8
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.
12 SPDL=Speed level Specifies the speed level.
The speed level is a 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 been stopped.
Level: Only 0
Available only with the
optional servo-float
function.
No Tag Explanation Note
13 MTE=Amount of
station axis rotation
Specifies the amount of station axis rotation.
The operation of the station axis can be specified by the
number of rotations.
Amount of rotation:
-100 to 100
Available only with the
optional axis endless
function.
No Tag Explanation Note
14 NWAIT Specifies the NWAIT instruction.
The NWAIT instruction carries out the instructions
excluding the move instruction from that step on, at the
same time as the manipulator is carrying out that step.
15 ENWAIT Specifies the ENWAIT instruction.
The ENWAIT instruction carries out the instructions
excluding the move instructions from that step on,
before reaching the next step.
Available only with the
conditional NWAIT
function. (option:
S2C576)
Refer to ENWAIT of
chapter 2.6 “Instruction
Which Adheres to an
Instruction” at
page 2-220.
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