YASKAWA NX100 - Page 458

10 Table of Basic Instructions
10.1 Move Instructions
10-3
149235-1CD
RE-CSO-A031
MOVS
Function
Moves to a taught point with spline interpolation type.
Additional
Item
Position data,
Base axis position data,
Station axis position data
These data do
not appear on
the screen.
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as
MOVL.
PL=<position level> PL:0 to 8
NWAIT
ACC=(acceleration adjustment ratio) ACC: 20 to
100%
DEC=(deceleration adjustment ratio) DEC: 20 to
100%
Example
MOVS V=120 PL=0
IMOV
Function
Moves the specified increment from the current position with linear
interpolation type.
Additional
Item
P<variable number>,
BP<variable number>,
EX<variable number>
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as
MOVL.
PL=<position level> PL:0 to 8
NWAIT
BF,RF,TF,UF# (<user coordinate number>) BF:
base
coordinates
RF:
robot
coordinates
TF:
tool coordinates
UF:
user
coordinates
UNTIL statement
ACC=(acceleration adjustment ratio) ACC: 20 to
100%
DEC=(deceleration adjustment ratio) DEC: 20 to
100%
Example
IMOV P000 V=138 PL=1 RF
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