YASKAWA FS100 - Page 212

2 INFORM Explanation
FS100 2.4 Move Instruction : IMOV
2-189
4. EX Variable number /LEX Variable number /EX
[Array number] /LEX [Array number]
When a P Variable number, LP Variable number, P [Array number], or LP
[Array number] is selected from the table in part 1 of this Explanation, the
following tag can be added.
5. V=Tool center point speed /VR=Position angular
speed /VE=External axis speed
Choose one of the tags from the following table.
6. PL=Position level
The following tag can be added or omitted.
No Tag Explanation Note
5 EX Variable number /
LEX Variable number
/
EX [Array number]/
LEX [Array number]
Specifies the position variable number of the station
axis.
Moves the axis according to the position data set in the
specified variable number.
Variable number:
000 to 127
No Tag Explanation Note
6 V=Tool center point
speed
Specifies the tool center point speed.
Specifies the unit of rate using the operation condition
setting screen.
Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting the
parameter S2C173.
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used. (Units: 0.1
mm/s)
7 VR=Position angular
speed
Specifies the position angular speed. Speed: 0.1 degrees to
180.0 degrees/s
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used. (Units: 0.1
deg/s)
8 VE=External axis
speed
Specifies the external axis speed. Speed: 0.01% to
100.00%
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.(Units: 0.01
%)
No Tag Explanation Note
9 PL=Position level Specifies the position level.
The positioning level is a level of the approach when
the manipulator passes the position where the teaching
procedure was done.
Level: 0 to 8
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.