YASKAWA FS100 - Page 219

2 INFORM Explanation
FS100 2.4 Move Instruction : REFP
2-196
1. Reference Point Number
Add the following tag.
Table 2-11: Job Type and Control Group
No. Job Type Control Group Remarks
1 Single One manipulator (standard)
2 Single One manipulator with base axis
3 Single One manipulator with station axis
4 Single One manipulator with base and station axes
5 Single Station axis only
6 Coordinated Two manipulators Optional
7 Coordinated Two manipulators with base axis Optional
8 Coordinated Coordinated job with one manipulator and the
station axis (designated as master)
Optional
9 Coordinated Coordinated job with one manipulator (with
base axis) and the station axis (designated
as master)
Optional
Table 2-12: Availability of Each Tag
No Tag
Control Group
Note
123456789
1 Reference point
number

2RBn
×××××
3STn
×××××××
4 Robot teaching
position file number
 × 
5 P/LP/P[]/LP[]
 × 
6 Base-axis teaching
position file number
×  ×  ×× × 
7 Station teaching
position file number
×× ×××××
8 BP/LBP/BP[]/LBP[]
×  ×  ×× × 
9 EX/LEX/EX[]/LEX[]
×× ×××××
10 Station teaching
position file number
×××× ××
11 EX/LEX/EX[]/LEX[]
×××× ××
: Available
×: Not available
Explanation
No Tag Explanation Note
1 Reference point
number
Specifies the reference point (REFP) number. Reference points:
1 to 8