2 INFORM Explanation
FS100 2.4 Move Instruction : IMOV
2-191
10. ACC=Acceleration adjustment ratio
The following tag can be added or omitted.
11. DEC=Deceleration adjustment ratio
The following tag can be added or omitted.
12. +IMOV
Add the following tag.
(1) IMOV P000 V=138 RF
Moves from the current position at a rate of 138cm/min for the
incremental value specified in P000 in the robot coordinate sys-
tem.
No Tag Explanation Note
19 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
20 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.
No Tag Explanation Note
21 +IMOV Specifies the move instruction for an incremental value
of the master manipulator.
Available only with the
optional coordinate
function.
Refer to the
independent/coordinated
function for details.
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