YASKAWA FS100 - Page 225

2 INFORM Explanation
FS100 2.5 Shift Instruction : SFTON
2-202
5. BF/RF/TF/UF# (User coordinate number)
When a P Variable number, LP Variable number, P [Array number], or LP
[Array number] is selected from the table in part 2 of this Explanation,
choose one of the tags from the following table.
Shift between Step 3 and Step 5 in the user coordinate system.
No Tag Explanation Note
7 BF Specifies the increment value in the base coordinate
system.
8 RF Specifies the increment value in the robot coordinate
system.
9 TF Specifies the increment value in the tool coordinate
system.
10 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.
Example
(1) NOP
MOVJ VJ=50.0
MOVL V=138
SFTON P000 UF#(1)
MOVL V=138
MOVL V=138
MOVL V=138
SFTOF
MOVL V=138
Shifted section
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6