2 INFORM Explanation
FS100 2.4 Move Instruction : IMOV
2-190
7. NWAIT
The following tag can be added or omitted.
8. BF/RF/TF/UF# (User coordinate number)
Choose one of the tags from the following table.
9. UNTIL/SRCH/NSRCH
Choose one of the tags from the following table.
No Tag Explanation Note
10 NWAIT Specifies the NWAIT instruction.
The NWAIT instruction carries out the instructions
excluding the move instruction from that step on, at the
same as time the manipulator is carrying out that step.
No Tag Explanation Note
11 BF Specifies the increment value in the base coordinate
system.
12 RF Specifies the increment value in the robot coordinate
system.
13 TF Specifies the increment value in the tool coordinate
system.
14 UF#(User coordinate
number)
Specifies the increment value in the user coordinate
system.
No: 1 to 16
Variable B/I/D/LB/LI/LD
can be used.
15 MTF Specifies the incremental value in the master tool
coordinate system.
In the master tool coordinate system, position data is
converted to positions relative to the master
manipulator.
Available only with the
optional independent/
coordinated function.
No Tag Explanation Note
16 UNTIL Specifies the UNTIL instruction.
The UNTIL instruction is a tag by which the conditions
of the input signal are 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.
17 SRCH Specifies the SRCH instruction.
The SRCH instruction is a tag which detects the start
point.
Available only with the
optional start point
searching function.
Refer to the Starting
point detection function
for details.
18 NSRCH Specifies the NSRCH instruction.
The NSRCH instruction detects a position without
stopping the motion.
Available only with the
optional search-in-
motion function.
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