Professional Documents
Culture Documents
NX100
INFORM MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMANINSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATORS MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operators manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANDATORY
This manual explains the INFORM language of the NX100 system. Read
this manual carefully and be sure to understand its contents before handling the NX100.
General items related to safety are listed in the Section 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
CAUTION
Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your products warranty.
ii
WARNING
CAUTION
MANDATORY
PROHIBITED
Even items described as CAUTION may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as CAUTION and WARNING.
iii
WARNING
Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON
Injury may result from unintentional or unexpected manipulator motion.
TURN
iv
CAUTION
Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the manipulators work area, on
the floor, or near fixtures.
Read and understand the Explanation of the Warning Labels in the
NX100 Instructions before operating the manipulator.
Manual Designation
NX100 Controller
NX100
Programming Pendant
Manipulator Cable
Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
Symbol Keys
Axis Keys
Numeric Keys
Keys pressed
simultaneously
Displays
vi
1.1.4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
With INFORM II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
Type of Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
Selecting Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
Variables to be Used in Instructions . . . . . . . . . . . . . . . . . . . . .1-3
Set Value of Variable and Numeric Data. . . . . . . . . . . . . . . .1-3
. . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.2.1 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.2.2 Learning Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
INFORM Explanation
2.1 I/O Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2
2.3
DOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
DIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
WAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
PULSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12
AOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-15
ARATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-16
ARATIOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-20
ANTOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-21
Control Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-26
JUMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-26
CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-30
TIMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-33
* (LABEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-34
(COMMENT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-35
RET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-36
NOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-37
PAUSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-38
CWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-39
ADVINIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-40
ADVSTOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-41
Operating Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-42
CLEAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-42
INC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-46
DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-48
SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-50
ADD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-60
SUB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-69
vii
MUL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-79
DIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-89
CNVRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-98
AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-101
OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-103
NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-105
XOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-107
MFRAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-109
SETE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-112
GETE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-115
GETS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-117
SQRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-123
SIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-125
COS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-127
ATAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-129
MULMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-131
INVMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-134
SETFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-136
GETFILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-140
2.4 Move Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-142
MOVJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-142
MOVL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-153
MOVC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-164
MOVS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-173
IMOV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-182
SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-190
REFP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-193
2.5 Shift Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-200
SFTON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-200
SFTOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-205
MSHIFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-207
2.6 Instruction Which Adheres to an Instruction. . . . . . . 2-210
IF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-210
UNTIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-223
ENWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-225
2.7 Arc Welding Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-226
ARCON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-226
ARCOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-231
VWELD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-235
AWELD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-237
ARCSET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-239
WVON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-243
WVOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-249
ARCCTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-251
ARCCTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-255
2.8 Handling Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-259
HAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-259
HSEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-261
2.9 Spot Welding Instruction . . . . . . . . . . . . . . . . . . . . . . . . . 2-263
GUNCL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-263
SPOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-265
STROKE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-269
STRWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-270
2.10 General-purpose Instruction . . . . . . . . . . . . . . . . . . . . 2-272
TOOLON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-272
TOOLOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-274
viii
About INFORM
1.1.1
With INFORM II
The robot programming language used with NX100 is called INFORM II. INFORM II is composed of the instruction and the additional item (tag and numeric data).
MOVJ VJ=50.00
Tag
Numeric data
Instruction
Additional item
Instruction : It is used to execute the operation and processing. In the case of a move
instruction, when a position is taught, the move instruction is automatically displayed
according to the interpolation method.
Additional item : The speed, time, etc. are set according to the type of instruction.
Numeric data and character data are added to the tag that specifies the condition as necessary.
1.1.2
Type of Instruction
The instruction is divided into several types in terms of each process and operation.
Type
Content
Instruction Example
I/O Instruction
Control
Instruction
It is the instruction used to control the processing and oper- JUMP, TIMER
ation.
Operating
Instruction
It is the instruction by which the variables, etc. are used and ADD, SET
operated.
Move Instruction
Shift Instruction
Instruction which
adheres to
instruction
Work Instruction
Optional
Instruction
1-1
DOUT, WAIT
IF, UNTIL
1.1.3
Instruction Set
Operation
1
Explanation
EDIT
DISPLAY
UTILITY
TEACHINGCONDITION
RECT/CYLINDRICAL
RECT
LANGUAGELEVEL
SUBSET
INSTRUCTIONINPUTLEARNING
VALID
MOVEINSTRUCTIONSET
LINE
STEPONLYCHANGING
PROHIBIT
MRESET
MainMenu
1-2
ShortCut
Operation
3
Explanation
The instruction set selection dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
TEACHINGCONDITION
RECT/CYLINDRICAL
RECT
LANGUAGELEVEL
MOVEINSTRUCTIONSET
SUBSET
STANDARD
EXPANDED
LINE
STEPONLYCHANGING
PROHIBIT
INSTRUCTIONINPUTLEARNING
MRESET
MainMenu
ShortCut
EDIT
DISPLAY
UTILITY
TEACHINGCONDITION
RECT/CYLINDRICAL
RECT
LANGUAGELEVEL
EXPANDED
INSTRUCTIONINPUTLEARNING
VALID
MOVEINSTRUCTIONSET
LINE
STEPONLYCHANGING
PROHIBIT
MRESET
MainMenu
1.1.4
ShortCut
Variables can be used as numeric data for the additional item of the instructions in the standard and expanded instruction sets.
Also, the instructions in the expanded instruction set can use local variables and array variables.
NOTE
The unit of the numeric data for the additional item of the instruction decides the set value of
variable and the value of the additional item at execution.
1-3
1.2
1.2.1
Registration of Instructions
Registration
INFORM
LIST
Operation
Explanation
Select {JOB}
EDIT
DISPLAY
JOBCONTENT
JOBNAME:R1S1
CONTROLGROUP:R1+S1
UTILITY
IN/OUT
STEPNO:004
TOOL:00
CONTROL
0017TIMERT=1.00
0018MOVJVJ=12.50
0019MOVJVJ=50.00
0020MOVLV=138
0021MOVLV=138
0022MOVJVJ=100.00
0023DOUTOT#(1)ON
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
=>
MainMenu
ShortCut
EDIT
DISPLAY
JOBCONTENT
JOBNAME:R1S1
CONTROLGROUP:R1+S1
0017TIMERT=1.00
0018MOVJVJ=12.50
0019MOVJVJ=50.00
0020MOVLV=138
0021MOVLV=138
0022MOVJVJ=100.00
0023DOUTOT#(1)ON
UTILITY
DOUT
STEPNO:004
TOOL:00
DIN
IN/OUT
CONTROL
WAIT
DEVICE
PULSE
MOTION
AOUT
ARITH
ARATION
SHIFT
ARATIOF
OTHER
SAME
PRIOR
=>
DOUTOT#(1)ON
MainMenu
1-4
ShortCut
Operation
Explanation
Press [ENTER]
SUPPLEMENT
1.2.2
Refer to the Operators Manual 5.2 Editing Instructions for details on editing instructions.
Learning Function
With the learning function, an instruction can be registered with the same additional items as
those previously registered with the instruction.
Validate the learning function to minimize the number of instruction registries.
Set the learning function to valid or invalid in the teaching condition window.
Operation
1
Explanation
EDIT
DISPLAY
UTILITY
TEACHINGCONDITION
RECT/CYLINDRICAL
RECT
LANGUAGELEVEL
SUBSET
INSTRUCTIONINPUTLEARNING
VALID
MOVEINSTRUCTIONSET
LINE
STEPONLYCHANGING
PROHIBIT
MRESET
MainMenu
1-5
ShortCut
Operation
4
Press [SELECT]
Explanation
The condition VALID or INVALID is switchable each time
[SELECT] is pressed.
DATA
EDIT
DISPLAY
UTILITY
TEACHINGCONDITION
RECT/CYLINDRICAL
RECT
LANGUAGELEVEL
SUBSET
INSTRUCTIONINPUTLEARNING
INVALID
MOVEINSTRUCTIONSET
LINE
STEPONLYCHANGING
PROHIBIT
MRESET
MainMenu
1-6
ShortCut
1.3
c Instruction
d Additional
item name
EDIT
DISPLAY
UTILITY
DETAIL EDIT
MOVJ
P-VAR ROBOT
JOINT SPEED
POS LEVEL
T-ROTATION
NWAIT
UNTIL
P000
VJ= 50.00
PL= 1
UNUSED
UNUSED
UNTIL I
e Additional item
=>
Main Menu
Short Cut
cInstructions
Indicates the instruction.
dAdditional Item Name
Indicates the name of the additional item (type).
eAdditional Item
Indicates the additional item.
The tag selection dialog box appears when the cursor is on the additional item and
[SELECT] is pressed.
When NOT USED is selected, the tag is omitted (if it can be omitted).
fData Type Altering Icon
Alters the type of numeric data.
For example, if the 50.00 of VJ=50.00 (constant type) is changed to I000 (integer-type variable), it becomes VJ=I000.
gDetail Edit Display Icon
Indicates the detail edit display is shown.
1-7
1.4
Registration of Expression
1.4.1
Expression
Expression
SUPPLEMENT
EDIT
JOB
DETAIL EDIT
EXPRESSION
c Starting parentheses
DATA01
DATA02
DATA03
DATA04
DATA05
DATA06
DATA07
DISPLAY
( DATA SEL.TYPE )
-((( - 1234567890123
UTILITY
OPERATOR
)))
h Operator
g Ending parentheses
f Data type selection icon
d - (negative)
e Data
=>
Main Menu
Short Cut
cStarting parentheses
Move the cursor to the parentheses, and press [SELECT]. Each time [SELECT] is pressed,
three types of parentheses show up in the following order.
(
((
(((
-(
-((
-(((
d - (negative)
Move the cursor to the desired position, and press [SELECT]. Each time [SELECT] is
pressed, the negative is alternately added and omitted and vice versa.
1-8
Data
The data type of the expression is indicated. The following types of data can be registered.
Constant (byte type, integer type, double-precision type, and real-number type)
Byte type variable (B, B[], LB, and LB[])
Integer type variable (I, I[], LI, and LI[])
Double-precision type variable (D, D[], LD, and LD[])
Real-number type variable (R, R[], LR, and LR[])
Move the cursor to the desired position, and press [SELECT] to enter the numeric value
input status. Change the numeric value of the constant data and the variable number.
Change the data type by using the Data type selection icon.
Data type selection icon
Change the data type in the following manner.
Move the cursor to the data type to be changed, and press [SELECT]. A dialog box with the
selectable data types is displayed. Move the cursor to the data type to be selected and
press [SELECT].
Ending parentheses
Move the cursor to the parentheses and press [SELECT]. Each time [SELECT] is pressed,
three types of parentheses show up in the following order.
)
))
)))
Operator
Move the cursor to the operator to be changed and press [SELECT]. The operator selection dialog box is displayed. Move the cursor to the operator to be selected and press
[SELECT].
1-9
Expression
SET B000
( B001 +
B002 ) /
B003 -
Data01
Data02
Data03
JOB
DISPLAY
B005 ) *
Data04
Data05
B006
Data06
UTILITY
DETAIL EDIT
EXPRESSION
( DATA SEL.TYPE )
DATA01
DATA02
DATA03
DATA04
DATA05
DATA06
( B001
B002
B003
( B004
B005
B006
=>
OPERATOR
)
+
/
+
*
Main Menu
1.4.2
EDIT
( B004 +
Short Cut
Registration
Operation
Select {JOB}
Select ARITH
Select SET
Press [SELECT]
Explanation
EDIT
DISPLAY
DETAIL EDIT
SET
DESTINATION
SOURCE (TOKEN)
=>
B000
1
SET B000 1
Main Menu
1-10
Short Cut
UTILITY
Operation
7
Explanation
beside
SOURCE(TOKEN)
8
Press [SELECT]
EDIT
DISPLAY
UTILITY
DETAIL EDIT
SET
DESTINATION
SOURCE (TOKEN)
=>
SET B000 1
Main Menu
Select EXPRESS
Short Cut
EDIT
DISPLAY
DETAIL EDIT
EXPRESSION
( DATA SEL.TYPE )
DATA01
( 1
=>
UTILITY
OPERATOR
)
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B000
EXPRESS
CONSTANT
B[]
B
I []
I
D[]
D
R[]
R
EXPRESS
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DISPLAY
UTILITY
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SOURCE (TOKEN)
=>
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11 Press [ENTER]
12 Press [ENTER]
1-11
1.5
INFORM Structure
An example of the INFORM structure is shown in the following structure flowchart. The
INFORM structure chart is composed of the structure elements (instruction, tag, and data).
The order of the rows is shown with the numbers and arrows.
1
MOVJ
Robot teaching
point file No.
P/LP/P[]/
LP[]
Station teaching
point file No.
EX/LEX/
EX[]/
LEX[]
Base teaching
point file No.
Station teaching
point file No.
Variable No.
Variable No.
BP/LBP/
BP[]/
LBP[]
Variable No.
EX/LEX/
EX[]/
LEX[]
Variable No.
VJ=
Joint speed(%)
10
PL=
Position level
11
SPDL=
Speed level
12
MT=
T axis rotation
count
13
MTE=
END
14
NWAIT
15
UNTIL
1-12
Station axis
rotation count
Explanation
Note
MOVJ
VJ=
Variable No.(%)
A
A
P/LP/P[]/
LP[]
Variable No.
Meaning
B
NWAIT
D
PL=
Position level
SPDL=
Speed level
1-13
Explanation Table
The explanation table in this manual can be described as follows.
No
1
Tag
OT # (Output
number)
Explanation
Specifies the output number signal.
Note
No:1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
NO.
Indicates the tag number. Corresponds to the number in the INFORM structure.
Tag
Indicates the surface description of the tag.
Explanation
Provides an explanation of the tag.
1-14
2 INFORM Explanation
2.1
I/O Instructions
DOUT
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
DOUT
OT#
Output No.
B/LB/B[]/
LB[]
ON/OFF
OG#
Output group
No.
OGH#
Output group
No.
B/LB/B[]/
LB[]
END
Variable No.
Variable No.
Byte type
variable
Explanation
1. OT# (Output number) /OG# (Output group number) /OGH# (Output group
number)
Choose one of the tags from the following table.
No
Tag
Explanation
OT#(Output number)
No:1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
OG#(Output
group number)
No:1 to 128
Variable B/I/D/LB/LI/
LD can be used.
2-1
Note
No
3
SUPPLEMENT
Tag
Explanation
OGH#(Output
group number)
Note
No:1 to 256
Variable B/I/D/LB/LI/
LD can be used.
Output signal
Output signal OT#(xx) is 1 point, OGH#(xx) is 1 group 4 points, and OG#(xx) is 1 group 8
points.
OT#(8)
OT#(7) OT#(6)
OGH#(2)
OT#(5)
OT#(4)
OT#(3) OT#(2)
OGH#(1)
OT#(1)
OG#(1)
2. B Variable number /LB Variable number /B [Array number] /LB [Array number] /ON /OFF
When OT# (output number) is selected from the table in part 1 of this Explanation, choose one
of the tags from the following table.
No
Tag
Explanation
B Variable number/
LB Variable number /
B [Array number]/
LB [Array number]
ON/OFF
Note
Least significant bit:
0: OFF
1: ON
2-2
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
Specifies on/off of the output signal by the specified bit value byte type variable.
bit:
0: OFF
1: ON
Example
OT#(23)
OT#(22)
OT#(21)
OT#(20)
OT#(19) OT#(18)
OT#(17)
OG#(3)
ON
2-3
DIN
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Refers to the byte type variable for the status of the signal.
Construction
DIN
B/LB/B[]/
LB[]
Variable No.
IN#
Input No.
IG#
OT#
Output No.
OG#
Output group
No.
SIN#
Specific
input No.
SOUT#
Specific
output No.
IGH#
OGH#
Output group
No.
END
Explanation
Tag
Explanation
B Variable Number/
LB Variable Number/
B [Array Number]/
LB [Array Number]
2-4
Note
Tag
Explanation
Note
IN#(Input number)
No:1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
IG#(Input group
number)
No:1 to 128
Variable B/I/D/LB/LI/
LD can be used.
OT#(Output number)
No:1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
OG#(Output
group number)
Specifies the general output group signal number (1 group 8 points) which shows the signal
status.
No:1 to 128
Variable B/I/D/LB/LI/
LD can be used.
SIN#(Specific
input number)
No:1 to 640
Variable B/I/D/LB/LI/
LD can be used.
SOUT#(Specific
output number)
No:1 to 800
Variable B/I/D/LB/LI/
LD can be used.
IGH#(Input group
number)
No:1 to 256
Variable B/I/D/LB/LI/
LD can be used.
OGH#(Output
group number)
No:1 to 256
Variable B/I/D/LB/LI/
LD can be used.
SUPPLEMENT
Input signal
Input signal IN#(xx) is 1 point, IGH#(xx) is 1 group 4 points, and IG#(xx) is 1group 8 points.
IN#(8)
IN#(7) IN#(6)
IGH#(2)
IN#(5)
IN#(4)
IG#(1)
2-5
IN#(3) IN#(2)
IGH#(1)
IN#(1)
Example
OT#(63)
OT#(62)
OT#(61)
OT#(60)
OT#(59)
OT#(58)
OT#(57)
OG#(8)
ON
2-6
WAIT
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Waits until the status of the external signal or byte type variable is the same as the specified
status.
Construction
WAIT
IN#
Input No.
OT#
Output No.
SIN#
Specific
input No.
SOUT#
Specific
output No.
IG#
13
OG#
Output group
No.
14
<>
)
)
IGH#
OGH#
Output group
No. (4 Point)
B/LB/B[]/
LB[]
10
11
B/LB/B[]/
LB[]
12
ON/OFF
B/LB/B[]/
LB[]
15
Variable No.
Byte type
constant
16
END
17
Variable No.
2-7
Variable No.
T=
Time (sec)
Explanation
Tag
Explanation
Note
No:1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
OT# (Output
number)
No:1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
SIN# (Specific
input number)
No:1 to 640
Variable B/I/D/LB/LI/
LD can be used.
SOUT# (Specific
output number)
No:1 to 800
Variable B/I/D/LB/LI/
LD can be used.
IG#(Input group
number)
No:1 to 128
Variable B/I/D/LB/LI/
LD can be used.
OG#(Output
group number)
No:1 to 128
Variable B/I/D/LB/LI/
LD can be used.
IGH#(Input group
number)
No:1 to 256
Variable B/I/D/LB/LI/
LD can be used.
OGH#(Output
group number)
No:1 to 256
Variable B/I/D/LB/LI/
LD can be used.
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
2-8
2. =
When an IN# (input number), OT# (output number), SIN# (specific input number), or SOUT#
(specific output number) is selected from the table in part 1 of this Explanation, add the following tag.
No
10
Tag
=
Explanation
Note
It is equal.
Tag
Explanation
11
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
12
ON/OFF
Note
Least significant bit:
0:OFF
1:ON
4. =/<>
When an IG# (input group number), OG# (output group number), IGH# (input group number),
OGH# (output group number), B variable number, LB variable number, B [array number], or
LB [array number] is selected from the table in part 1 of this Explanation, choose one of the
tags from the following table.
No
Tag
Explanation
13
It is equal.
14
<>
It is not equal.
2-9
Note
Tag
Explanation
15
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
16
Byte typeconstant
Note
6. T=time
The following tag can be added or omitted.
No
17
Tag
T=time
Explanation
Note
Unit: Second
It is possible to specify at time by the I/LI/
I/LI variable (Units:
0.01 seconds).
Example
2-10
5 (Decimal)=0101 (Binary)
IN#(7)
IN#(6)
IGH#(2)
IN#(5)
ON
Waits until general input signal nos.5 and 7 are turned off and general input signal
nos. 6 and 8 are turned on.
(4) Example of press machine handling.
000 NOP
001 MOVJ VJ=100.0
002 MOVJ VJ=100.0
WAIT IN#(1)=ON
003 MOVJ VJ=100.0
004 MOVJ VJ=100.0
005 MOVJ VJ=100.0
006 MOVJ VJ=100.0
007 MOVJ VJ=100.0
008 MOVJ VJ=100.0
009 END
Press
Machine
Step 1
Step 2
Step 5
Step 3
Step 4
Step 8
Step 6
Step 7
Pallet
2-11
PULSE
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The pulse signal is output to the general output signal only for the specified time.
The PULSE instruction, without waiting for completion of the instruction, executes the next
one.
Construction
PULSE
OT#
Output No.
OG#
Output group
No.
OGH#
Output group
No.
END
T=
Time (second)
2-12
B/LB/B[]
/LB[]
Byte type
constant
Variable No.
Explanation
1. OT# (output number) / OG# (output group number) / OGH# (output group
number)
Choose one of the tags from the following table.
No
Tag
Explanation
Note
No.: 1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
OG# (Output
group No.)
No.: 1 to 128
Variable B/I/D/LB/LI/
LD can be used.
OGH# (Output
group No.)
No.: 1 to 256
Variable B/I/D/LB/LI/
LD can be used.
Tag
Explanation
B Variable number/
LB Variable number/
B [Array Number] /
LB [Array Number]
2-13
Note
Bit:
0: OFF
1: ON
3. T=Time
The following tag can be added or omitted.
No.
6
Tag
T=Time
Explanation
Note
Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
When the time is not
specified, the pulse
signal is output during 0.30 seconds.
Example
Pulse signal
0.3sec
ON
Pulse signal
1.0 sec
OFF
OT#(23)
OT#(22)
OT#(21)
OT#(20)
OT#(19) OT#(18)
OT#(17)
OG#(3)
ON
The pulse signal is output for 0.30 seconds to the general output signal No.s 20 and
21.
2-14
AOUT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Outputs the set voltage value to the general-purpose analog output port.
Construction
AOUT
AO#
Analog output
port No.
Output voltage
value (V)
END
Explanation
Tag
Explanation
Note
No.: 1 to 40
Variable B/I/D/LB/LI/
LD can be used.
Tag
Output voltage
value
Explanation
Specifies the output voltage value.
Example
2-15
Note
Voltage value:
-14.00 to +14.00
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
ARATION
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
ARATION
AO#
Analog output
port No.
BV=
Basic voltage
(V)
END
V=
Speed at TCP
(mm/sec.)
OFV=
Offset voltage
(V)
Explanation
Tag
Explanation
Specifies the number of the analog output port
that outputs the voltage corresponding to the
speed.
Note
No.: 1 to 40
Variable B/I/D/LB/LI/
LD can be used.
2. BV=Basic voltage
The following tag can be added or omitted.
No.
Tag
Explanation
Note
BV=Basic voltage
Voltage value:
-14.00 to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
2-16
3. V=Basic speed
The following tag can be added or omitted.
No.
3
Tag
V=Basic speed
Explanation
Specifies the speed at which the set voltage
value is output.
Note
Speed: 0.1 to 1500.0
mm/s.
Variable B/I/D/LB/LI/
LD can be used.
(Units: 0.1 mm/s.)
4. OFV=Offset voltage
The following tag can be added or omitted.
No.
Tag
OFV=Offset voltage
Explanation
Specifies the analog voltage to be output at the
motion speed 0.
2-17
Note
Voltage value:
-14.00 to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
SUPPLEMENT
14V
Basic viltage
Offset voltage
Basic speed
Motion speed
Example
MOVJ VJ=50.00
7.00
MOVL V=50.0
-4.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVL V=200.0
12.67
When the basic voltage is 7.00 V at a motion speed of 150.0 mm/sec for the analog output
port number 1, an offset voltage of -10.0 V is output.
2-18
Analog voltage
(V)
14
10
Basic voltage 7
5
50
100
150
Basic speed
-5
Offset voltage
-10
2-19
200
Motion speed
(mm/sec)
ARATIOF
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
ARATIOF
AO#
Analog output
port No.
END
Explanation
Tag
Explanation
Specifies the number of the general-purpose
analog output port for which the analog output
corresponding to speed is to be cancelled.
Note
No.: 1 to 40
Variable B/I/D/LB/LI/
LD can be used.
Example
ARATIOF AO#(1)
The analog output corresponding to the speed at the analog output port number 1 is cancelled.
2-20
ANTOUT
The ANTOUT instruction can be used only with parameter S2C508.
Instruction set:
SUBSET
STANDARD
EXPANDED
Parameter
Not available
Available
Available
S2C508
Function
Carries out the anticipation output function to adjust the timing of the signal output.
2-21
SUPPLEMENT
n-1
Step
Instructions
n-1
n
MOVL
MOVL NWAIT
ANTOUT AT#(1) ON
MOVL
n+1
n+1
Step
Setting of
general
output
ON
OFF
Set time to advance signal output
n-1
Step
Instructions
n-1
n
MOVL
MOVL NWAIT
ANTOUT AT#(2) ON
MOVL
n+1
n+1
Step
Setting of
general
output
ON
OFF
Set time to delay signal output
2-22
Construction
ANTOUT
AT#
Anticipation
output No.
AG#
Anticipation
group output
No.
ON/OFF
4
5
B/LB/B[]/
LB[]
Variable No.
Byte type
constant
END
ANT=
Anticipation
time (s)
Explanation
Tag
Explanation
Note
AT# (Anticipation
output number)
No.: 1 to 4
Variable B/I/D/LB/LI/
LD can be used.
AG# (Anticipation
group output
number)
No.: 1 or 2
Variable B/I/D/LB/LI/
LD can be used.
2-23
SUPPLEMENT
EDIT
DISPLAY
UTILITY
ONTIME
OFFTIME
ANTICIPATIONOUTPUT
<SINGLE>
ATNO. OTOUTPUT
1
010
2
11
12
3
13
4
-0.50
-0.50
-0.50
-0.50
<GROUP>
AGNO. OGOUTPUT
1
10
2
11
-0.50
-0.50
-0.80
-0.20
TIME
-0.50
-0.70
e
d
g
f
MainMenu
ShortCut
2. ON/OFF
When an AT#(anticipation output number) is selected from the table in part 1 of this Explanation, add the following tag.
No.
3
Tag
ON/OFF
Explanation
Specifies the ON/OFF status of the signal whose
output timing is adjusted.
2-24
Note
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
Bit:
0: OFF
1: ON
4. ANT=Anticipation time
The following tag can be added or omitted.
No.
Tag
ANT=Anticipation
time
Explanation
Note
Units: seconds
Variable I/LI/I[]/LI[]
can be used. (Units:
0.01 seconds)
When the time is not
specified, the time
set in the signal timing adjustment file is
applied.
Example
Step
n-1
n
n+1
Instructions
MOVL V=100
MOVL V=100 NWAIT
ANTOUT AT#(1) ON
MOVL V=100
DATA
EDIT
DISPLAY
UTILITY
ONTIME
OFFTIME
ANTICIPATIONOUTPUT
<SINGLE>
ATNO. OTOUTPUT
1
010
2
11
---3
---4
<GROUP>
AGNO. OGOUTPUT
1
--2
---
MainMenu
2-25
ShortCut
0.00
0.00
0.00
0.00
TIME
0.00
0.00
-0.50
-0.50
0.00
0.00
2.2
Control Instruction
JUMP
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
JUMP
Label character
string
LABEL:
10
B/LB/B[]/
LB[]
11
IG#
JOB:
B/LB/B[]/
LB[]
IG#
QUE
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
B
B
Variable No.
13
UF#
Variable No.
User
coordinate No.
END
14
IF
JET#
Job registration
table No.
2-26
12
ENTRY=
Registration
No.
Explanation
Tag
Explanation
Note
*Label strings
LABEL:
The numerical value specified by byte type variable or input group number is considered a label.
JOB:
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
IG#(Input group
number)
No:1 to 128
Variable B/I/D/LB/LI/
LD can be used.
QUE
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
The numerical value specified by the double-precision type variable is considered to be the job.
2-27
No.: 1 to 3
Variable B/I/D/LB/LI/
LD can be used.
Available only with
the job registration
table function
(option: S2C345)
Tag
Explanation
10
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
11
IG#(Input group
number)
Specifies the input group number of the numerical value for the label.
Note
No:1 to 128
B/I/D/LB/LI/LD Variable can be used.
3. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in part 1 of this Explanation, add the following tag.
No.
Tag
Explanation
Note
12
ENTRY=Registration number
Specifies the registration number of the job registered in the specified job registration table.
No.: 1 to 1024
Variable B/B[]/LB/
LB[]/I/I[] can be used.
Tag
13
Explanation
Specifies the coordinates of the job.
2-28
Note
Available only in the
relative job function.
5. IF
The following tag can be added or omitted.
No
14
Tag
IF
Explanation
Specifies the IF instruction.
Note
Refer to " 2.6
Instruction Which
Adheres to an
Instruction ".
Example
(1) JUMP *1
Jumps to *1.
(2) JUMP JOB:TEST1 UF#(2)
Jumps to the job named TEST1. TEST1 works in user coordinate system No.2.
(3) SET B000 1
JUMP B000 IF IN#(14)=ON
If input signal no.14 is on, it jumps to job 1.
2-29
CALL
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
CALL
JOB:
B/LB/B[]/
LB[]
IG#
QUE
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
UF#
User
coordinate No.
Variable No.
A
(
END
10
B
B
IF
JET#
Job registration
table No.
2-30
ENTRY=
Registration
No.
Explanation
Tag
Explanation
Note
JOB:
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
No:1 to 128
Variable B/I/D/LB/LI/
LD can be used.
QUE
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
The numerical value specified by the double-precision type variable is considered to be the call
job.
2-31
No.: 1 to 3
Variable B/I/D/LB/LI/
LD can be used.
Available only in the
job registration table
function (option:
S2C345)
2. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in part 1 of this Explanation, add the following tag.
No.
Tag
Explanation
ENTRY=Registration number
Specifies the registration number of the job registered in the specified job registration table.
Note
No.: 1 to 1024
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[] can
be used.
Tag
Explanation
Specifies the user coordinate system of the job
to be called.
Note
Available only in the
relative job function.
4. IF
The following tag can be added or omitted.
No
10
Tag
IF
Explanation
Specifies the IF instruction.
Example
2-32
Note
Refer to " 2.6
Instruction Which
Adheres to an
Instruction ".
TIMER
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
TIMER
T=
Time (s)
END
Explanation
1. T=timer
Add the following tag.
No
1
Tag
T=timer
Explanation
Specifies the stopping time.
Example
2-33
Note
Unit: Second
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
* (LABEL)
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
LABEL
Label strings
END
Explanation
1. *Label strings
Add the following tag.
No
1
Tag
*Label strings
Explanation
Specifies the label strings.
Note
String: 8 characters
Example
NOP
*1
JUMP JOB:1 IF IN#(1)=ON
Repeat
JUMP JOB:2 IF IN#(2)=ON
JUMP *1
END
IF general input signal No.1 and No.2 are off, if loops infinitely between *1" and JUMP *1".
NOTE The label is effective only in the same job. It does not jump to the same label in other jobs.
2-34
(COMMENT)
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
COMMENT
'
Comment strings
END
Explanation
1. 'Comment strings
Add the following tag.
No
Tag
'Comment strings
Explanation
Specifies the comment.
Example
NOP
'Waiting Position
MOVJ VJ=100.00
MOVJ VJ=100.00
MOVJ VJ=25.00
'Welding Start
ARCON ASF#(1)
MOVL V=138
'Welding end
ARCOF
MOVJ VJ=25.00
'Waiting Position
MOVJ VJ=100.00
END
The comment clarifies the job content.
2-35
Note
String: 32 characters
RET
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Returns from the called job to the original job which has been called.
Construction
RET
END
IF
Explanation
1. IF
The following tag can be added or omitted.
No
1
Tag
IF
Explanation
Note
Example
RET IF IN#(12)=ON
If general input signal No.12 is on, it returns to the job of the call origin.
JOB:1
Execution order
NOP
MOVJ VJ=100.00
MOVJ VJ=100.00
CALL JOB:2
MOVJ VJ=100.00
JOB:2
NOP
DOUT OT#(1) ON
WAIT IN#(1)=ON
DOUT OT#(1) OFF
RET IF IN#(12)=ON
END
END
2-36
NOP
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
NOP
END
Example
NOP
END
2-37
PAUSE
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
PAUSE
END
1
IF
Explanation
1. IF
The following tag can be added or omitted.
No.
1
Tag
IF
Explanation
Specifies an IF statement. An IF instruction
states the execution conditions.
Note
Refer to IF of 2.6
Instructions Which
Adheres to Instruction.
Example
PAUSE IF IN#(12)=ON
Stops the job temporarily if general-purpose input signal number 12 is ON.
2-38
CWAIT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
CWAIT
END
Example
<Step>
n
n+1
<Instructions>
MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
MOVL V=100
Turns ON the general-purpose output signal number 1 when the manipulator starts moving
from the step n to the step n+1, and turns it OFF when the manipulator reaches the step n+1.
2-39
ADVINIT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Not available
Available
Function
When the same variable is used for multiple systems in the optional independent control function, ADVINIT controls the timing to change the variable data among the systems.
ADVINIT is an instruction used to control NX100 internal processing, therefore, executing this
instruction does not affect the job.
Construction
ADVINIT
END
2-40
ADVSTOP
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
When the same variable is used for multiple systems in the optional independent control function, ADVSTOP controls the access timing of the variable data among the systems.
ADVSTOP is an instruction used to control NX100 internal processing, therefore, executing
this instruction does not affect the job.
Construction
ADVSTOP
END
2-41
2.3
Operating Instruction
CLEAR
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
In Data 1, the variable content from the specified number on, is cleared to 0 only by the
amount specified in Data 2.
Construction
CLEAR
<Data 1>
CLEAR
<Data 2>
B/LB/B[]/
LB[]
Variable No.
8
9
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
STACK
QUE
MPF
2-42
Byte type
constant
ALL
END
Explanation
1. B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array
number] /D Variable number /LD Variable number /D [Array number] /LD
[Array number] /R Variable number/ LR Variable number /R [Array number]
/LR [Array number] /STACK/QUE/MPF
Choose one of the tags from the following table.
No
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
STACK
QUE
<Data 1>
Available only with
the job queue function (option: S2C503)
MPF
<Data 1>
Available only with
the optional memo
play function.
2-43
Note
SUPPLEMENT
Stack level 2
Stack level 3
Stack level 4
Job call
Job A
Job call
Job B
Job call
Job C
Return
Job call
Job D
Return
Return
Tag
Explanation
ALL
Note
Example
2-44
JOB:1
NOP
MOVJ VJ=100.00
JOB:2
JOB:3
NOP
MOVJ VJ=100.00
NOP
MOVJ VJ=100.00
JOB:4
NOP
CLEAR STACK
CALL JOB:2
CALL JOB:3
JUMP JOB:1
RET
END
END
END
JUMP JOB:4
END
JOB:2
JOB:1
JOB:1
Cleared
2-45
JOB:1
Cleared all
INC
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
INC
B/LB/B[]/
LB[]
Variable No.
I/LI/
I[]/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
2-46
END
Explanation
1. B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number/ LI Variable number /I [Array number] /LI [Array
number] /D Variable number/ LD Variable number /D [Array number] /LD
[Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
Note
Example
NOP
SET B000 0
*1
MOVJ VJ=100.00
MOVJ VJ=50.00
INC B000
JUMP *1 IF B000<200
END
1 is added to B000.
2-47
DEC
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
DEC
B/LB/B[]/
LB[]
Variable No.
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
END
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/ D Variable number/LD Variable number/D [Array number]/LD [Array
number]
Choose one of the tags from the following table.
No.
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
2-48
Note
Example
NOP
SET B000 200
*1
MOVJ VJ=100.00
MOVJ VJ=50.00
DEC B000
JUMP *1 IF B000=0
END
2-49
SET
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
SET
<Data 1>
SET
<Data 2>
B/LB/B[]/
LB[]
Variable No.
I/LI/
I[]/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
P/LP/P[]/
LP[]
Variable No.
BP/LBP/
BP[]/
LBP[]
EX/LEX/
EX[]/
LEX[]
END
32
P/LP/P[]/
LP[]
Variable No.
Variable No.
33
BP/LBP/
BP[]/
LBP[]
Variable No.
Variable No.
34
EX/LEX/
EX[]/
LEX[]
Variable No.
2-50
Byte type
constant
14
Integer type
constant
B/LB/B[]/
LB[]
Variable No.
15
B/LB/B[]/
LB[]
Variable No.
10
I/LI/I[]
/LI[]
Variable No.
16
I/LI/I[]
/LI[]
Variable No.
11
D/LD/D[]/
LD[]
Variable No.
17
D/LD/D[]/
LD[]
Variable No.
12
R/LR/R[]/
LR[]
Variable No.
18
R/LR/R[]/
LR[]
Variable No.
13
Expression
19
Expression
26
Real-number
type constant
20
Double-precision
type constant
21
B/LB/B[]/
LB[]
Variable No.
27
B/LB/B[]/
LB[]
Variable No.
22
I/LI/I[]
/LI[]
Variable No.
28
I/LI/I[]
/LI[]
Variable No.
23
D/LD/D[]/
LD[]
Variable No.
29
D/LD/D[]/
LD[]
Variable No.
24
R/LR/R[]/
LR[]
Variable No.
30
R/LR/R[]/
LR[]
Variable No.
25
Expression
31
Expression
2-51
Explanation
1. B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array
number] /D Variable number /LD Variable number /D [Array number] /LD
[Array number] /R Variable number /LR Variable number /R [Array number]
/LR [Array number] /P Variable number /LP Variable number /P [Array number] /LP [Array number] /BP Variable number /LBP Variable number /BP
[Array number] /LBP [Array number] /EX Variable number /LEX Variable
number /EX [Array number] /LEX [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
B Variable number/
LB Variable number/
Ba[Array number]/
LBa[Array number]
< Data1>
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
D Variable number/
LD Variable number/
Da[Array number]/
LDa[Array number]
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
2-52
Note
No
Tag
Explanation
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
Specifies the number of the station axis positional variable to which data is set.
2-53
Note
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
10
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
11
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
12
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
13
Expression
<Data 2>
For details of setting
the expression, refer
to 1.4 Registration
of Expression.
2-54
Tag
Explanation
14
15
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
16
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
17
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
18
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
19
Expression
<Data 2>
For details of setting
the expression, refer
to 1.4 Registration
of Expression.
2-55
Note
Tag
Explanation
20
Double precision
type constant
21
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
22
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
23
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
24
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
25
Expression
<Data 2>
For details of setting
the expression, refer
to 1.4 Registration
of Expression.
2-56
Note
Tag
Explanation
Note
26
27
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
< Data2>
28
I Variable number/
LI Variable numb
er/
I[Array number]/
LI [Array number]
29
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
30
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
31
Expression
<Data 2>
For details of setting
the expression, refer
to 1.4 Registration
of Expression.
2-57
6. P Variable number /LP Variable number /P [Array number] /LP [Array number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, add the following tag.
No
Tag
32
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Explanation
Specifies the number of the robot axis position
variable.
Note
< Data 2>
7. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a BP Variable number, LBP Variable number, BP [Array number], or LBP [Array number] is selected from the table in part 1 of this Explanation, add the following tag.
No
Tag
33
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [[Array number]
Explanation
Specifies the number of the base axis position
variable.
Note
< Data 2>
8. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
When an EX Variable number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the table in part 1 of this Explanation, add the following tag.
No
Tag
Explanation
34
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
2-58
Note
< Data 2>
Example
2-59
ADD
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
ADD
B/LB/B[]/
LB[]
Variable No.
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
P/LP/P[]/
LP[]
Variable No.
28
P/LP/P[]/
LP[]
Variable No.
BP/LBP/
BP[]/
LBP[]
Variable No.
29
BP/LBP/
BP[]/
LBP[]
Variable No.
EX/LEX/
EX[]/
LEX[]
Variable No.
30
EX/LEX/
EX[]/
LEX[]
Variable No.
2-60
END
Byte type
constant
13
Integer type
constant
B/LB/B[]/
LB[]
Variable No.
14
B/LB/B[]/
LB[]
Variable No.
10
I/LI/I[]
/LI[]
Variable No.
15
I/LI/I[]
/LI[]
Variable No.
11
D/LD/D[]/
LD[]
Variable No.
16
D/LD/D[]/
LD[]
Variable No.
12
R/LR/R[]/
LR[]
Variable No.
17
R/LR/R[]/
LR[]
Variable No.
23
Real-number
type constant
18
Double-precision
type constant
19
B/LB/B[]/
LB[]
Variable No.
24
B/LB/B[]/
LB[]
Variable No.
20
I/LI/I[]
/LI[]
Variable No.
25
I/LI/I[]
/LI[]
Variable No.
21
D/LD/D[]/
LD[]
Variable No.
26
D/LD/D[]/
LD[]
Variable No.
22
R/LR/R[]/
LR[]
Variable No.
27
R/LR/R[]/
LR[]
Variable No.
2-61
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
Choose one of the tags from the following table.
No.
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 1>
I Variable number/ LI
Variable number/
I [Array number]/
LI [Array number]
<Data 1>
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 1>
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 1>
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
<Data 1>
BP Variable number/
LBP Variable number/
BP [Array number]/
LBP [Array number]
<Data 1>
EX Variable number/
LEX Variable number/
EX [Array number]/
LEX [Array number]
<Data 1>
2-62
Note
2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array
number]/LI [Array number]/D Variable number/LD Variable number/D
[Array number]/LD [Array number]/R Variable number/LR Variable number/
R [Array number]/LR [Array number]
When a B Variable number, LB Variable number, B [Array number], or LB [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table.
No.
Tag
Explanation
Note
<Data 2>
<Data 2>
10
<Data 2>
11
<Data 2>
12
<Data 2>
2-63
Tag
Explanation
13
<Data 2>
14
<Data 2>
15
<Data 2>
16
<Data 2>
17
<Data 2>
2-64
Note
Tag
Explanation
18
Double-precision
type constant
<Data 2>
19
<Data 2>
20
<Data 2>
21
<Data 2>
22
<Data 2>
2-65
Note
Tag
Explanation
23
Real-number type
constant
<Data 2>
24
<Data 2>
25
<Data 2>
26
<Data 2>
27
<Data 2>
2-66
Note
Tag
28
Explanation
Specifies the number of the robot axis position
type variable to be added.
Note
<Data 2>
Tag
29
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
Explanation
Specifies the number of the base axis position
type variable to be added.
Note
<Data 2>
Tag
Explanation
30
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
2-67
Note
<Data 2>
Example
2-68
SUB
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
SUB
B/LB/B[]/
LB[]
Variable No.
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
P/LP/P[]/
LP[]
Variable No.
28
P/LP/P[]/
LP[]
Variable No.
BP/LBP/
BP[]/
LBP[]
Variable No.
29
BP/LBP/
BP[]/
LBP[]
Variable No.
EX/LEX/
EX[]/
LEX[]
Variable No.
30
EX/LEX/
EX[]/
LEX[]
Variable No.
2-69
END
Byte type
constant
13
Integer type
constant
B/LB/B[]/
LB[]
Variable No.
14
B/LB/B[]/
LB[]
Variable No.
10
I/LI/I[]
/LI[]
Variable No.
15
I/LI/I[]
/LI[]
Variable No.
11
D/LD/D[]/
LD[]
Variable No.
16
D/LD/D[]/
LD[]
Variable No.
12
R/LR/R[]/
LR[]
Variable No.
17
R/LR/R[]/
LR[]
Variable No.
23
Real-number
type constant
18
Double-precision
type constant
19
B/LB/B[]/
LB[]
Variable No.
24
B/LB/B[]/
LB[]
Variable No.
20
I/LI/I[]
/LI[]
Variable No.
25
I/LI/I[]
/LI[]
Variable No.
21
D/LD/D[]/
LD[]
Variable No.
26
D/LD/D[]/
LD[]
Variable No.
22
R/LR/R[]/
LR[]
Variable No.
27
R/LR/R[]/
LR[]
Variable No.
2-70
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
Choose one of the tags from the following table.
No.
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 1>
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 1>
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 1>
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 1>
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
<Data 1>
2-71
Note
No.
Tag
Explanation
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
<Data 1>
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
<Data 1>
2-72
Note
2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array
number]/LI [Array number]/D Variable number/LD Variable number/D
[Array number]/LD [Array number]/R Variable number/LR Variable number/
R [Array number]/LR [Array number]
When a B Variable number, LB Variable number, B [Array number], or LB [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table.
No.
Tag
Explanation
Note
<Data 2>
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
10
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
11
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
12
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-73
Tag
Explanation
13
<Data 2>
14
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
15
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
16
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
17
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-74
Note
Tag
Explanation
18
Double-precision
type constant
<Data 2>
19
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
20
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
21
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
22
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-75
Note
Tag
Explanation
23
Real-number type
constant
<Data 2>
24
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
25
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
26
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
27
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-76
Note
Tag
28
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Explanation
Specifies the number of the robot axis position
type variable to be subtracted.
Note
<Data 2>
Tag
29
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
Explanation
Specifies the number of the base axis position
type variable to be subtracted.
Note
<Data 2>
Tag
Explanation
30
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
2-77
Note
<Data 2>
Example
2-78
MUL
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
MUL
B/LB/B[]/
LB[]
Variable No.
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
P/LP/P[]/
LP[]
Variable No.
BP/LBP/
BP[]/
LBP[]
Variable No.
EX/LEX/
EX[]/
LEX[]
Variable No.
2-79
END
Byte type
constant
13
Integer type
constant
B/LB/B[]/
LB[]
Variable No.
14
B/LB/B[]/
LB[]
Variable No.
10
I/LI/I[]
/LI[]
Variable No.
15
I/LI/I[]
/LI[]
Variable No.
11
D/LD/D[]/
LD[]
Variable No.
16
D/LD/D[]/
LD[]
Variable No.
12
R/LR/R[]/
LR[]
Variable No.
17
R/LR/R[]/
LR[]
Variable No.
23
Real-number
type constant
18
Double-precision
type constant
19
B/LB/B[]/
LB[]
Variable No.
24
B/LB/B[]/
LB[]
Variable No.
20
I/LI/I[]
/LI[]
Variable No.
25
I/LI/I[]
/LI[]
Variable No.
21
D/LD/D[]/
LD[]
Variable No.
26
D/LD/D[]/
LD[]
Variable No.
22
R/LR/R[]/
LR[]
Variable No.
27
R/LR/R[]/
LR[]
Variable No.
29
28
Element No.
30
2-80
D/LD/D[]/
LD[]
Double-precision
type constant
Variable No.
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
Choose one of the tags from the following table.
No.
Tag
Explanation
B Variable number/
LB Variable number
B [Array number]/
LB [Array number]
<Data 1>
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 1>
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 1>
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 1>
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
<Data 1>
2-81
Note
No.
Tag
Explanation
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
<Data 1>
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
<Data 1>
2-82
Note
2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array
number]/LI [Array number]/D Variable number/LD Variable number/D
[Array number]/LD [Array number]/R Variable number/LR Variable number/
R [Array number]/LR [Array number]
When a B Variable number, LB Variable number, B [Array number], or LB [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table.
No.
Tag
Explanation
Note
<Data 2>
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
10
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
11
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
12
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-83
Tag
Explanation
13
<Data 2>
14
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
15
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
16
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
17
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-84
Note
Tag
Explanation
18
Double-precision
type constant
<Data 2>
19
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
20
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
21
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
22
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-85
Note
Tag
Explanation
23
Real-number type
constant
<Data 2>
24
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
25
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
26
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
27
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-86
Note
6. (Element number)
When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP
Variable number, LBP Variable number, BP [Array number], LBP [Array number], EX Variable
number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the
table in part 1 of this Explanation, the following tag can be added or omitted.
No.
Tag
28
(Element number)
SUPPLEMENT
Explanation
Specifies the element of the position type variable to be multiplied.
If omitted, all the elements of the position type
variable are specified.
Note
Element number: 1
to 255
Variable B/LB can be
used.
2-87
7. D Variable number/LD Variable number/D [Array number]/LD [Array number]/ Double-precision type constant
When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP
Variable number, LBP Variable number, BP [Array number], LBP [Array number], EX Variable
number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the
table in part 1 of this Explanation, choose one of the tags from the following table after (Element number) of 6.
No.
Tag
Explanation
Note
29
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
30
Double-precision
type constant
<Data 2>
Example
2-88
DIV
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
DIV
B/LB/B[]/
LB[]
Variable No.
I/LI/I[]
/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
P/LP/P[]/
LP[]
Variable No.
BP/LBP/
BP[]/
LBP[]
Variable No.
EX/LEX/
EX[]/
LEX[]
Variable No.
2-89
END
Byte type
constant
13
Integer type
constant
B/LB/B[]/
LB[]
Variable No.
14
B/LB/B[]/
LB[]
Variable No.
10
I/LI/I[]
/LI[]
Variable No.
15
I/LI/I[]
/LI[]
Variable No.
11
D/LD/D[]/
LD[]
Variable No.
16
D/LD/D[]/
LD[]
Variable No.
12
R/LR/R[]/
LR[]
Variable No.
17
R/LR/R[]/
LR[]
Variable No.
23
Real-number
type constant
18
Double-precision
type constant
19
B/LB/B[]/
LB[]
Variable No.
24
B/LB/B[]/
LB[]
Variable No.
20
I/LI/I[]
/LI[]
Variable No.
25
I/LI/I[]
/LI[]
Variable No.
21
D/LD/D[]/
LD[]
Variable No.
26
D/LD/D[]/
LD[]
Variable No.
22
R/LR/R[]/
LR[]
Variable No.
27
R/LR/R[]/
LR[]
Variable No.
29
28
Element No.
30
2-90
D/LD/D[]/
LD[]
Double-precision
type constant
Variable No.
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/P Variable number/LP Variable number/P [Array number]/
LP [Array number]/BP Variable number/LBP Variable number/BP [Array
number]/LBP [Array number]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]
Choose one of the tags from the following table.
No.
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 1>
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 1>
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 1>
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 1>
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
<Data 1>
2-91
Note
No.
Tag
Explanation
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
<Data 1>
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
<Data 1>
2-92
Note
2. Byte type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array
number]/LI [Array number]/D Variable number/LD Variable number/D
[Array number]/LD [Array number]/R Variable number/LR Variable number/
R [Array number]/LR [Array number]
When a B Variable number, LB Variable number, B [Array number], or LB [Array number] is
selected from the table in part 1 of this explanation, choose one of the tags from the following
table.
No.
Tag
Explanation
Note
<Data 2>
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
10
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
11
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
12
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-93
Tag
Explanation
13
<Data 2>
14
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
15
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
16
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
17
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-94
Note
Tag
Explanation
18
Double-precision
type constant
<Data 2>
19
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
20
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
21
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
22
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-95
Note
Tag
Explanation
23
Real-number type
constant
<Data 2>
24
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
25
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 2>
26
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
27
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
2-96
Note
6. (Element number)
When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP
Variable number, LBP Variable number, BP [Array number], LBP [Array number], EX Variable
number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the
table in part 1 of this Explanation, the following tag can be added or omitted.
No.
Tag
28
(Element number)
Explanation
Specifies the element of the position type variable by which Data 1 is divided.
If omitted, all the elements of the position type
variable are specified.
Note
Element number: 1
to 255
Variable B/LB can be
used.
7. D Variable number/LD Variable number/D [Array number]/LD [Array number]/Double-precision type constant
When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP
Variable number, LBP Variable number, BP [Array number], LBP [Array number], EX Variable
number, LEX Variable number, EX [Array number], or LEX [Array number] is selected from the
table in part 1 of this Explanation, choose one of the tags from the following table after (Element number) of 6.
No.
Tag
Explanation
Note
29
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
30
Double-precision
type constant
<Data 2>
Example
2-97
CNVRT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Converts the pulse type position type variable of Data 2 to the XYZ type position type variable
in the specified coordinate system, and stores the result in Data 1.
Construction
CNVRT
PX/PX[]
/LPX
/LPX[]
BF
RF
TF
UF#
MTF
Variable No.
PX/PX[]
/LPX
/LPX[]
Variable No.
END
User
coordinate No.
Explanation
Tag
Explanation
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
2-98
Note
<Data 1>
SUPPLEMENT
Tag
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Explanation
Specifies the number of the expanded position
type variable to be converted.
2-99
Note
<Data 2>
Tag
Explanation
Note
BF
RF
TF
No.: 1 to 24
Variable B/I/D/LB/LI/
LD can be used.
MTF
Example
2-100
AND
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Carries out logical multiplication of Data 1 and Data 2, and stores the result in Data 1.
Construction
AND
B/LB/B[]/
LB[]
Variable No.
2
3
B/LB/B[]/
LB[]
END
Variable No.
Byte type
constant
Explanation
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
2-101
Note
<Data 1>
2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant
Choose one of the tags from the following table.
No.
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
<Data 2>
Example
SET B000 5
SET B010 1
AND B000 B010
Carries out the logical multiplication of B000 (0000 0101) and B010 (0000 0001), and stores
the result (0000 0001=1) in B000.
2-102
OR
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Carries out the logical sum of Data 1 and Data 2, and stores the result in Data 1.
Construction
OR
B/LB/B[]/
LB[]
Variable No.
2
3
B/LB/B[]/
LB[]
END
Variable No.
Byte type
constant
Explanation
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
2-103
Note
<Data 1>
2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant
Choose one of the tags from the following table.
No
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
<Data 2>
Example
SET B000 5
SET B010 10
OR B000 B010
Carries out the logical sum of B000 (0000 0101) and B010 (0000 1010), and stores the result
(0000 1111=15) in B000.
2-104
NOT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Carries out the logical negation of Data 2, and stores the result in Data 1.
Construction
NOT
B/LB/B[]/
LB[]
Variable No.
2
3
B/LB/B[]/
LB[]
END
Variable No.
Byte type
constant
Explanation
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
2-105
Note
<Data 1>
2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant
Choose one of the tags from the following table.
No.
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
<Data 2>
Example
SET B000 0
SET B010 1
NOT B000 B010
Carries out the logical negation of B010 (0000 0001), and stores the result (1111 1110=254) in
B000.
2-106
XOR
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Carries out the logical exclusive OR of Data 1 and Data 2, and stores the result in Data 1.
Construction
XOR
B/LB/B[]/
LB[]
Variable No.
2
3
B/LB/B[]/
LB[]
END
Variable No.
Byte type
constant
Explanation
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
2-107
Note
<Data 1>
2. B Variable number/LB Variable number/B [Array number]/LB [Array number]/Byte type constant
Choose one of the tags from the following table.
No.
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 2>
Specifies the byte type data for which the exclusive OR is carried out.
<Data 2>
Example
SET B000 1
SET B010 5
XOR B000 B010
Carries out the exclusive OR of B000 (0000 0001) and B010 (0000 0101), and stores the
result (0000 0100=4) in B000.
2-108
MFRAME
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Creates the user coordinates according to three types of position data; Data 1, Data 2, and
Data 3.
Data 1 indicates the position data of the defined point ORG; Data 2 indicates the position data
of the defined point XX; and Data 3 indicates the position data of the defined point XY.
Construction
MFRAME User coordinate designation <Data 1> <Data 2> <Data 3>
MFRAME
User
coordinate No.
UF#
P/LP/P[]/
LP[]
Variable No.
PX/PX[]
/LPX
/LPX[]
Variable No.
PX/PX[]
/LPX
/LPX[]
PX/PX[]
/LPX
/LPX[]
Variable No.
Variable No.
END
Explanation
Tag
Explanation
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Specifies the number of the position type variable where the coordinate values of the user
coordinate to be created is stored.
2-109
Note
No.: 1 to 24
Variable B/I/D/LB/LI/
LD can be used.
Tag
Explanation
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Note
<Data 1>
Tag
Explanation
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Note
<Data 2>
Tag
Explanation
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
2-110
Note
<Data 3>
Example
2-111
SETE
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
SETE
P/LP/P[]/
LP[]
Variable No.
BP/LBP/
BP[]/
LBP[]
Variable No.
EX/LEX/
EX[]/
LEX[]
Variable No.
Element No.
5
6
2-112
Double-precision
constant
D/LD/D[]/
LD[]
END
Variable No.
Explanation
1. P Variable number/LP Variable number/P [Array number]/LP [Array number]/BP Variable number/LBP Variable number/BP [Array number]/LBP
[Array number]/BP [Array number]/LBP [Array number]/EX Variable number/LEX Variable number/EX [Array number]/LEX [Array number]
Choose one of the tags from the following table.
No.
Tag
Explanation
Note
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
<Data 1>
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
<Data 1>
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
<Data 1>
2. (Element number)
Add the following tag.
No.
Tag
(Element number)
Explanation
Specifies the element of the position type variable to be set.
2-113
Note
Element No.: 1 to
255
Variable B/LB can be
used.
Tag
Explanation
Double-precision
type constant
<Data 2>
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 2>
Example
2-114
Note
GETE
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
GETE
D/LD/D[]/
LD[]
Variable No.
Variable No.
P/LP/P[]/
LP[]
Variable No.
BP/LBP/
BP[]/
LBP[]
Variable No.
EX/LEX/
EX[]/
LEX[]
Variable No.
END
Explanation
Tag
Explanation
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
2-115
Note
<Data 1>
2. P Variable number/LP Variable number/P [Array number]/LP [Array number]/BP Variable number/LBP Variable number/BP [Array number]/LBP
[Array number]/EX Variable number/LEX Variable number/EX [Array number]/LEX [Array number]
Choose one of the tags from the following table.
No.
Tag
Explanation
Note
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number
<Data 2>
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
<Data 2>
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
<Data 2>
3. (Element number)
Add the following tag.
No.
Tag
(Element number)
Explanation
Specified the number of the of the position type
variable element to be stored.
Example
2-116
Note
Element No.: 1 to
255
Variable B/LB can be
used.
GETS
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
GETS
B/LB/B[]/
LB[]
Variable No.
$B/$B[]
Variable No.
I/LI/I[]
/LI[]
Variable No.
$I/$I[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
$D/$D[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
$R/$R[]
Variable No.
PX/PX[]
/LPX
/LPX[]
Variable No.
10
$PX/
$PX[]
Variable No.
2-117
END
Explanation
1. B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Variable number/I [Array number]/LI [Array number]/D Variable number/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R [Array number]/LR
[Array number]/PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number]
Choose one of the tags from the following table.
No.
Tag
Explanation
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
<Data 1>
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
<Data 1>
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 1>
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data1>
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
<Data 1>
2-118
Note
SUPPLEMENT
System variable
The system variables are written by the controller system and can be referred only by a
GETS instruction. The following system variables are available.
System
Variable
$B type
variable
Type
Byte
type
No.
Explanation
$B002
$B003
$B004
$B005
$B006
$B007
$B008
$B009
$B014
Continued
2-119
SUPPLEMENT
Continued
System
Variable
$PX type
variable
Type
Expanded
position
type
No.
Explanation
$PX000
$PX001
$PX002
$PX003
$PX004
$PX005
$PX006
$PX040
$PX100
to
$PX149
$PX150
to
$PX199
$PX200
to
$PX249
$PX250
to
$PX299
$PX300
to
$PX349
$PX350
to
$PX399
$PX400
to
$PX449
Continued
2-120
SUPPLEMENT
Continued
System
Variable
$PX type
variable
Type
Expanded
position
type
No.
Explanation
$PX450
to
$PX499
$PX500
to
$PX549
$PX550
to
$PX599
Tag
$B Variable number/
$B [Array number]
Explanation
Specifies the number of the byte type system
variable to be stored.
Note
<Data 2>
Tag
Explanation
$I Variable number/
$I [Array number]
2-121
Note
<Data 2>
Tag
$D Variable number/
$D [Array number]
Explanation
Specifies the number of the double-precision
type system variable to be stored.
Note
<Data 2>
Tag
$R Variable number/
$R [Array number]
Explanation
Specifies the number of the real-number type
system variable to be stored.
Note
<Data 2>
Tag
$PX Variable
number/
$PX [Array number]
Explanation
Specifies the number of the expanded position
type system variable to be stored.
Example
2-122
Note
<Data 2>
SQRT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Calculates the square root of Data 2, and stores the result in Data 1.
Construction
SQRT
R/LR/R[]/
LR[]
Variable No.
R/LR/R[]/
LR[]
Real-number
type constant
END
Variable No.
Explanation
Tag
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
Explanation
Specifies the number of the real-number type
variable to store the result.
2-123
Note
<Data 1>
2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant
Choose one of the tags from the following table.
No.
Tag
Explanation
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
Real-number type
constant
<Data 2>
Example
SQRT R000 2
1.414214E + 00 is stored in R000.
2-124
Note
SIN
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
SIN
R/LR/R[]/
LR[]
Variable No.
R/LR/R[]/
LR[]
Real-number
type constant
END
Variable No.
Explanation
Tag
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
Explanation
Specifies the number of the real-number type
variable to store the result.
2-125
Note
<Data 1>
2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant
Choose one of the tags from the following table.
No.
Tag
Explanation
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
Real-number type
constant
<Data 2>
Example
SIN R000 60
8.660254E - 01 is stored in R000.
2-126
Note
COS
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
COS
R/LR/R[]/
LR[]
Variable No.
R/LR/R[]/
LR[]
Real-number
type constant
END
Variable No.
Explanation
Tag
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
Explanation
Specifies the number of the real-number type
variable to store the result.
2-127
Note
<Data 1>
2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant
Choose one of the tags from the following table.
No.
Tag
Explanation
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
Real-number type
constant
<Data 2>
Example
COS R000 60
5.000000E - 01 is stored in R000.
2-128
Note
ATAN
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Calculates the arc tangent of Data 2, and stores the result in Data 1.
Construction
ATAN
R/LR/R[]/
LR[]
Variable No.
R/LR/R[]/
LR[]
Real-number
type constant
END
Variable No.
Explanation
Tag
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
Explanation
Specifies the number of the real-number type
variable to store the result.
2-129
Note
<Data 1>
2. R Variable number/LR Variable number/R [Array number]/LR [Array number]/Real-number type constant
Choose one of the tags from the following table.
No.
Tag
Explanation
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
<Data 2>
Real-number type
constant
<Data 2>
Example
ATAN R000 60
8.904516E + 01 is stored in R000.
2-130
Note
MULMAT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Calculates the matrix multiplication of Data 2 and Data 3, and stores the result in Data 1.
Construction
MULMAT
P/LP/P[]/
LP[]
Variable No.
P/LP/P[]/
LP[]
Variable No.
P/LP/P[]/
LP[]
Variable No.
END
Explanation
Tag
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Explanation
Specifies the number of the position type variable to store the result.
2-131
Note
<Data 1>
Tag
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Explanation
Specifies the number of the position type variable for which the matrix multiplication is calculated.
Note
<Data 2>
Tag
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
SUPPLEMENT
Explanation
Specified the number of the position type variable for which the matrix multiplication is calculated.
Note
<Data 3>
2-132
Example
2-133
INVMAT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Calculates the inverse matrix of Data 2, and stores the result in Data 1.
Construction
INVMAT
P/LP/P[]/
LP[]
Variable No.
P/LP/P[]/
LP[]
END
Variable No.
Explanation
Tag
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Explanation
Specifies the number of the position type variable to store the result.
Note
<Data 1>
Tag
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Explanation
Specifies the number of the position type variable for which the inverse matrix is calculated.
2-134
Note
<Data 2>
Example
2-135
SETFILE
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Changes the specified data of the specified condition file to the numeric data of Data 1.
Specify the data of the condition file to be changed by its element number.
Construction
SETFILE
SETFILE
(Element number)
SPR#
Sealing adjustment
condition file No.
UDC#
Under-coating
adjustment condition
file No.
WEV#
Weaving condition
file No.
5
6
Double-precision
type constant
D/LD/D[]/
LD[]
END
Variable No.
2-136
<Data 1>
4
Element No.
Explanation
Tag
Explanation
Note
SPR# (Sealing
adjustment condition file number)
No.: 1
Variable B/I/D/LB/LI/
LD can be used.
Available only with
the optional servo
sealing gun function.
Specifies the number of the number of the undercoating adjustment condition file.
No.: 1
Variable B/I/D/LB/LI/
LD can be used.
Available only with
the optional undercoating function.
WEV# (Weaving
condition file
number)
No.: 1 to 16
Variable B/I/D/LB/LI/
LD can be used.
2. (Element number)
Add the following tag.
No.
Tag
(Element number)
Explanation
Specifies the element number of the condition
file data to be changed.
2-137
Note
Element No.: 1 to
255
Variable B/LB can be
used.
Tag
Explanation
Double-precision
type constant
<Data 1>
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
<Data 1>
2-138
Note
SUPPLEMENT
Item
Units
Remarks
MODE
SMOOTHING
SPEED
FREQUENCY
0.1 Hz
AMPLITUDE (ACTIVE IN
SINGLE)
0.001 mm
PATTERN VERTICAL
0.001 mm
PATTERN HORIZONTAL
0.001 mm
PATTERN ANGLE
0.01 deg.
ANGLE
0.01 deg.
10
TIMER MODE
(SECT 1 to 4)
11 to14
MOVING TIME
0.1 sec.
Sections 1 to 4
15 to18
0.1 sec.
Duration of a pause
between two sections.
Stop positions 1 to 4
(SECT 1 to 4) designated by bit data
19
Optional
20
21
0.01 sec.
Optional
Optional
For details of the weaving condition file, refer to Chapter 11.10 Weaving Condition File in
NX100 OPERATORS MANUAL FOR ARC WELDING (RE-CSO-A031).
Example
2-139
GETFILE
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
D/LD/D[]/
LD[]
GETFILE
Variable No.
Element No.
SPR#
Sealing adjustment
condition file No.
UDC#
Under-coating
adjustment condition
file No.
WEV#
Weaving condition
file No.
AMF#
END
Explanation
Tag
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
Explanation
Specifies the number of the double-precision
type variable to store the data.
2-140
Note
<Data 1>
Tag
Explanation
Note
SPR# (Sealing
adjustment condition file number)
No.: 1
Variable B/I/D/LB/LI/
LD can be used.
Available only with
the optional servo
sealing gun function.
No.: 1
Variable B/I/D/LB/LI/
LD can be used.
Available only with
the optional undercoating function.
WEV# (Weaving
condition file
number)
No.: 1 to 16
Variable B/I/D/LB/LI/
LD can be used.
No.: 1 to 50
Variable B/I/D/LB/LI/
LD can be used.
Available only with
the optional arc monitor function.
3. (Element number)
Add the following tag.
No.
Tag
(Element number)
Explanation
Specifies the element number of the condition
file data to be stored.
Note
Element No.: 1 to
255
Variable B/LB can be
used.
Example
2-141
2.4
Move Instruction
MOVJ
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The tag which can be used is limited by the type of the job.
MOVJ
Robot teaching
position file No.
P/LP/P[]/
LP[]
Station teaching
position file No.
EX/LEX
/EX[]
/LEX[]
Base teaching
position file No.
Station teaching
position file No.
Variable No.
Variable No.
BP/LBP
/BP[]
/LBP[]
Point Variable
No.
D
Variable No.
10
Point Variable
No.
2-142
EX/LEX
/EX[]
/LEX[]
Variable No.
11
VJ=
Joint speed
(%)
12
PL=
Positioning
level
13
SPDL=
Speed level
14
MT=
Amount of the
T axis rotation
15
MTE=
Amount of
station axis
rotation
16
NWAIT
18
UNTIL
17
ENWAIT
19
NSRCH
21
DEC=
Deceleration
adjustment
ratio (%)
20
Acceleration
adjustment
ratio (%)
ACC=
22
+MOVJ
23
+MOVL
24
+MOVC
25
+MOVS
END
No.
Job Type
Control Group
Single
Single
Single
Single
Single
Coordinated
Two manipulators
Optional
Coordinated
Optional
2-143
Remarks
Control Group
No
Tag
Robot teaching
position file number
P/LP/P[]/LP[]
Station teaching
position file number
EX/LEX/EX[]/LEX[]
Station teaching
position file number
BP/LBP/BP[]/LBP[]
EX/LEX/EX[]/LEX[]
10
11
VJ=
12
PL=
13
SPDL=
14
MT=
15
MTE=
16
NWAIT
17
ENWAIT
18
UNTIL
19
NSRCH
20
ACC=
21
DEC=
22
+MOVJ
Optional
23
+MOVL
Optional
24
+MOVC
Optional
25
+MOVS
Optional
Optional
Note
Optional
Optional
Optional
Optional
Optional
Optional
: Available
: Available only with optional function enabled
: Not available
2-144
Explanation
1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number] /Station teaching position file
number /EX Variable number /LEX Variable number /EX [Array number] /
LEX [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
Robot teaching
position file number
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Variable number:
000 to 127
Station teaching
position file number
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
Variable number:
000 to 127
SUPPLEMENT
Note
Position Variables
There are the following three kinds of position variables.
Robot axis
: P000-P127
Base axis
: BP000-BP127
Station axis
: EX000-EX127
A position variable can store the position data as pulse type or XYZ type.
SUPPLEMENT
2-145
Tag
Explanation
Base teaching
position file number
Note
On the job display,
this tag is not displayed.
Tag
Explanation
Station teaching
position file number
Note
On the job display,
this tag is not displayed.
Tag
T Point Variable
number
Explanation
Specifies the number of the point variable.
The point variable manages the teaching positions registered in the job, and is used to move
the manipulator to the same position several
times in one job.
Note
Available only with
the optional point
variable function.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LBP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
BP Variable number/
LBP Variable
number/
BP [Array number] /
LBP [Array number]
Explanation
Specifies the position variable number of the
base axis.
Moves to the position data set in the variable of
the specified number.
2-146
Note
Variable number:
000 to 127
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
Explanation
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
Note
Variable number:
000 to 127
Tag
T Point Variable
number
Explanation
Specifies the number of the point variable.
The point variable manages the teaching positions registered in the job, and is used to move
the manipulator to the same position several
times in one job.
Note
Available only with
the optional point
variable function.
8. VJ=Joint speed
The following tag can be added or omitted.
No
11
Tag
VJ=Joint speed
Explanation
Note
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.01%)
2-147
Tag
Explanation
12
PL=Position level
Level: 0 to 8
Level: Only 0
Available only with
the optional servofloat function.
Refer to the servofloat function for
details.
13
SUPPLEMENT
SPDL=Speed
level
Note
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Position level
The approach level when the manipulator passes the position where the teaching procedure was performed is called a position level.
Positioning level 0
P2
P3
S1CxG33
S1CxG34
Positioning level 1
Positioning level 2
Positioning level 3
S1CxG35
S1CxG40
Positioning level 8
P1
1 : S1CxG33(m)
2 : S1CxG34(m)
3 : S1CxG35(m)
4 : S1CxG36(m)
5 : SICxG37 (m)
6 : SICxG38 (m)
7 : SICxG39 (m)
8 : SICxG40 (m)
2-148
Tag
MT=Amount of
Explanation
Note
Amount of rotation:
-100 to 100
Available only with
the optional axis endless function.
Refer to the axis
endless function for
details.
Tag
Explanation
Note
15
MTE= Amount of
Amount of rotation:
-100 to 100
Available only with
the optional axis endless function.
12. NWAIT/ENWAIT
Choose one of the tags from the following table.
No
Tag
Explanation
16
NWAIT
17
ENWAIT
2-149
Note
13. UNTIL/NSRCH
Choose one of the tags from the following table.
No
Tag
Explanation
Note
18
UNTIL
Refer to UNTIL of
2.6. Instruction
Which Adheres to
Instruction.
19
NSRCH
Tag
ACC=Acceleration adjustment
ratio
Explanation
Specifies the acceleration adjustment ratio.
The ACC instruction reduces the amount of
acceleration in the specified ratio.
Note
Acceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Tag
DEC=Deceleration adjustment
ratio
Explanation
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
2-150
Note
Deceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
SUPPLEMENT
Speed
Ordinaly
acceleration
ACC=70%
DEC=50%
Specified
ratio
Time
16. +MOVJ/+MOVL/+MOVC/+MOVS
Choose one of the tags from the following table.
No
Tag
Explanation
Note
22
+MOVJ
23
+MOVL
Specifies the linear interpolation motion instruction on the master manipulators side.
24
+MOVC
25
+MOVS
Specifies the spline interpolation motion instruction on the master manipulators side.
2-151
Example
Waiting position
Path
Step 1
2-152
MOVL
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The tag which can be used is limited by the type of the job.
1
MOVL
Robot teaching
position file No.
P/LP/P[]/
LP[]
Base teaching
position file No.
Station teaching
position file No.
Variable No.
Point variable
No.
BP/LBP
/BP[]
/LBP[]
Variable No.
EX/LEX
/EX[]
/LEX[]
Variable No.
V=
TCP speed
(mm/s)
11
PL=
Positioning
level
VR=
Position angular
speed (deg/s)
12
CR=
Corner radius
(mm)
10
VE=
External axis
speed (%)
13
SPDL=
Speed level
2-153
14
MTE=
Amount of
station axis
rotation
15
NWAIT
16
ENWAIT
17
UNTIL
18
SRCH
19
ASRCH
20
HPSRCH
21
NSRCH
22
ACC=
23
DEC=
Deceleration
adjustment
ratio (%)
Acceleration
adjustment
ratio (%)
24
+MOVJ
25
+MOVL
26
+MOVC
27
+MOVS
END
No.
Job Type
Control Group
Single
Single
Single
Single
Coordinated
Two manipulators
Optional
Coordinated
Optional
2-154
Remarks
Control Group
No
Tag
Robot teaching
position file number
P/LP/P[]/LP[]
Base teaching
position file number
Station teaching
position file number
BP/LBP/BP[]/LBP[]
EX/LEX/EX[]/LEX[]
V=
VR=
10
VE=
11
PL=
12
CR=
13
SPDL=
14
MTE=
15
NWAIT
16
ENWAIT
17
UNTIL
18
SRCH
Optional
19
ASRCH
Optional
20
HPSRCH
Optional
21
NSRCH
Optional
22
ACC =
23
DEC =
24
+MOVJ
Optional
25
+MOVL
Optional
26
+MOVC
Optional
27
+MOVS
Optional
Note
Optional
Optional
Optional
Optional
: Available
: Available only with optional function enabled
: Not available
2-155
Explanation
1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
Note
Robot teaching
position file number
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
000 to 127
Variable number:
Tag
Explanation
Base teaching
position file number
Note
On the job display,
this tag is not displayed.
Tag
Explanation
Station teaching
position file number
2-156
Note
On the job display,
this tag is not displayed.
Tag
T Point Variable
number
Explanation
Specifies the point variable number.
The point variable manages the teaching position registered in the job, and is used to move the
manipulator to the same position several times in
one job.
Note
Available only with
the optional point
variable function.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
Explanation
Specifies the position variable number of the
base axis.
Moves to the position data set in the variable of
the specified number.
Note
Variable number:
000 to 127
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
Explanation
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
2-157
Note
Variable number:
000 to 127
Tag
Explanation
Note
V=Tool center
point speed
Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting
the parameter
S2C173.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
VR=Position
angular speed
Speed: 0.1 to
180.0 degrees/s
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 deg./s)
10
VE=External axis
speed
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.01 %)
2-158
Tag
Explanation
Note
11
PL=Position level
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
12
CR=Corner
radius
Radius: 0.1mm to
6553.5 mm
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm)
13
SPDL=Speed
level
Level: Only 0
SUPPLEMENT
Corner radius
The manipulator operates by circular interpolation in which the corner radius is specified.
Corner radius
2-159
Tag
Explanation
14
MTE=Amount of
Note
Amount of rotation:
-100 to 100
Available only with
the optional axis endless function.
Refer to the axis
endless function for
details.
10. NWAIT/ENWAIT
The following tag can be added or omitted.
No
Tag
Explanation
15
NWAIT
16
ENWAIT
2-160
Note
11. SRCH/UNTIL/ASRCH/HPSRCH/NSRCH
Choose one of the tags from the following table.
No
Tag
Explanation
Note
17
SRCH
18
UNTIL
19
ASRCH
20
HPSRCH
21
NSRCH
Tag
ACC=Acceleration adjustment
ratio
Explanation
Specifies the acceleration adjustment ratio.
The ACC instruction reduces the amount of
acceleration in the specified ratio.
2-161
Note
Acceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Tag
DEC=Deceleration adjustment
ratio
Explanation
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
Note
Deceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
14. +MOVJ/+MOVL/+MOVC/+MOVS
Choose one of the tags from the following table.
No
Tag
Explanation
Note
24
+MOVJ
25
+MOVL
Specifies the linear interpolation motion instruction on the master manipulators side.
26
+MOVC
27
+MOVS
Specifies the spline interpolation motion instruction on the master manipulators side.
2-162
Example
NOP
MOVJ VJ=50.00
MOVJ VJ=25.00
MOVJ VJ=12.50
Step 3
MOVL V=138
Step 4
Moves from Step 3 to Step 4 by the linear interpolation at a rate of 138cm/min.
Waiting position
Step 1
Step 2
Step 3
Step 4
2-163
MOVC
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The tag which can be used is limited by the type of the job.
1
MOVC
Robot teaching
position file No.
P/LP/P[]/
LP[]
Base teaching
position file No.
Station teaching
position file No.
Variable No.
BP/LBP
/BP[]
/LBP[]
Point variable
No.
Variable No.
EX/LEX
/EX[]
/LEX[]
Variable No.
V=
TCP speed
(mm/s)
11
PL=
Positioning
level
VR=
Position angular
speed (deg/s)
12
SPDL=
Speed level
10
VE=
External axis
speed (%)
2-164
13
MTE=
Amount of
station axis
rotation
14
NWAIT
15
ENWAIT
16
ACC=
Acceleration
adjustment
ratio (%)
18
+MOVJ
END
19
+MOVL
20
+MOVC
21
+MOVS
17
DEC=
Deceleration
adjustment
ratio (%)
No.
Job Type
Control Group
Single
Single
Single
Single
Coordinated
Two manipulators
Optional
Coordinated
Optional
2-165
Remarks
Control Group
No
Tag
Robot teaching
position file number
P/LP/P[]/LP[]
Base teaching
position file number
Station teaching
position file number
BP/LBP/BP[]/LBP[]
EX/LEX/EX[]/LEX[]
V=
VR=
10
VE=
11
PL=
12
SPDL=
13
MTE=
14
NWAIT
15
ENWAIT
16
ACC=
17
DEC =
18
+MOVJ
Optional
19
+MOVL
Optional
20
+MOVC
Optional
21
+MOVS
Optional
Note
Optional
Optional
Optional
Optional
: Available
: Available only with optional function enabled
: Not available
2-166
Explanation
1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
Note
Robot teaching
position file number
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Variable number:
000 to 127
Tag
Explanation
Base teaching
position file number
Note
On the job display,
this tag is not displayed.
Tag
Explanation
Station teaching
position file number
2-167
Note
On the job display,
this tag is not displayed.
Tag
T Point Variable
number
Explanation
Specifies the point variable number.
The point variable manages the teaching position registered in the job, and is used to move the
manipulator to the same position several times in
one job.
Note
Available only with
the optional point
variable function.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
Explanation
Specifies the position variable number of the
base axis.
Moves to the position data set in the variable of
the specified number.
Note
Variable number:
000 to 127
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
Explanation
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
2-168
Note
Variable number:
000 to 127
Tag
V=Tool center
VR=Position
10
VE=External
axis speed
Explanation
Note
Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting
the parameter
S2C173.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be
used.(Units: 0.01 %)
point speed
angular speed
Tag
Explanation
Note
11
PL=Position level
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
12
SPDL=Speed
level
Level: Only 0
2-169
Tag
Explanation
13
MTE=Amount of
Note
Amount of rotation:
-100 to 100
Available only with
the optional axis endless function.
10. NWAIT/ENWAIT
The following tag can be added or omitted.
No
Tag
Explanation
14
NWAIT
15
ENWAIT
Note
Tag
ACC=Acceleration adjustment
ratio
Explanation
Specifies the acceleration adjustment ratio.
The ACC instruction reduces the amount of
acceleration in the specified ratio.
2-170
Note
Acceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Tag
DEC=Deceleration adjustment
ratio
Explanation
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
Note
Deceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
13. +MOVJ/+MOVL/+MOVC/+MOVS
Choose one of the tags from the following table.
No
Tag
Explanation
Note
18
+MOVJ
19
+MOVL
Specifies the linear interpolation motion instruction on the master manipulators side.
20
+MOVC
21
+MOVS
Specifies the spline interpolation motion instruction on the master manipulators side.
2-171
Example
NOP
MOVL V=138
MOVC V=138
MOVC V=138
MOVC V=138
MOVC V=138
MOVL V=138
END
Step 2
Step 3
Step 4
Step 5
Step 4
MOVC
Step 1
MOVL
Step 5
MOVC
Step 2
MOVC
2-172
Step 6
MOVL
MOVS
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The tag which can be used is limited by the type of the job.
1
MOVS
Robot teaching
position file No.
P/LP/P[]/
LP[]
Base teaching
position file No.
Station teaching
position file No.
Variable No.
BP/LBP
/BP[]
/LBP[]
Point variable
No.
Variable No.
EX/LEX
/EX[]
/LEX[]
Variable No.
V=
TCP speed
(mm/s)
11
PL=
Positioning
level
VR=
Position angular
speed (deg/s)
12
SPDL=
Speed level
10
VE=
External axis
speed (%)
2-173
13
NWAIT
14
ENWAIT
15
16
DEC=
Acceleration
adjustment
ratio (%)
ACC=
Deceleration
adjustment
ratio (%)
17
+MOVJ
18
+MOVL
19
+MOVC
20
+MOVS
END
No.
Job type
Control Group
Single
Single
Single
Single
Coordinated
Two manipulators
Optional
Coordinated
Optional
2-174
Remarks
Control Group
No
Tag
Robot teaching
position file number
P/LP/P[]/LP[]
Base teaching
position file number
Station teaching
position file number
BP/LBP/BP[]/LBP[]
EX/LEX/EX[]/LEX[]
V=
VR=
10
VE=
11
PL=
12
SPDL=
13
NWAIT
14
ENWAIT
15
ACC =
16
DEC =
17
+MOVJ
Optional
18
+MOVL
Optional
19
+MOVC
Optional
20
+MOVS
Optional
Note
Optional
Optional
Optional
: Available
: Available only with optional function enabled
: Not available
2-175
Explanation
1. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
Note
Robot teaching
position file number
P Variable number /
LP Variable number /
P [Array number]/
LP [Array number]
Variable number:
000 to 127
Tag
Explanation
Base teaching
position file number
Note
On the job display,
this tag is not displayed.
Tag
Explanation
Station teaching
position file number
2-176
Note
On the job display,
this tag is not displayed.
Tag
T Point Variable
number
Explanation
Specifies the point variable number.
The point variable manages the teaching position registered in the job, and is used to move the
manipulator to the same position several times in
one job.
Note
Available only with
the optional point
variable function.
5. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
BP Variable number /
LBP Variable
number /
BP [Array number]/
LBP [Array number]
Explanation
Specifies the position variable number of the
base axis.
Moves to the position data set in the variable of
the specified number.
Note
Variable number:
000 to 127
6. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
Explanation
EX Variable number /
LEX Variable
number /
EX [Array number]/
LEX [Array number]
2-177
Note
Variable number:
000 to 127
Tag
Explanation
Note
V=Tool center
point speed
Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting
the parameter
S2C173.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
VR=Position
angular speed
10
VE=External axis
speed
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be
used.(Units: 0.01 %)
Tag
Explanation
Note
11
PL=Position level
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
12
SPDL=Speed
level
Level: Only 0
2-178
9. NWAIT/ENWAIT
The following tag can be added or omitted.
No
Tag
Explanation
13
NWAIT
14
ENWAIT
Note
Tag
ACC=Acceleration adjustment
ratio
Explanation
Specifies the acceleration adjustment ratio.
The ACC instruction reduces the amount of
acceleration in the specified ratio.
Note
Acceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Tag
DEC=Deceleration adjustment
ratio
Explanation
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
2-179
Note
Deceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
12. +MOVJ/+MOVL/+MOVC/+MOVS
Choose one of the tags from the following table.
No
Tag
Explanation
Note
17
+MOVJ
18
+MOVL
Specifies the linear interpolation motion instruction on the master manipulators side.
19
+MOVC
20
+MOVS
Specifies the spline interpolation motion instruction on the master manipulators side.
2-180
Example
NOP
MOVL V=138
MOVS V=138
MOVS V=138
MOVS V=138
MOVS V=138
MOVS V=138
MOVL V=138
END
Step 2
Step 3
Step 4
Step 5
Step 6
Step 1
MOVL
Step 2
MOVS
Step 4
MOVS
Step 5
MOVS
2-181
Step 6
MOVS
Step 6
MOVL
IMOV
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Moves by linear interpolation from the current position for the specified incremental value.
Construction
The tag which can be used is limited by the type of the job.
IMOV
P/LP/P[]/
LP[]
Variable No.
BP/LBP
/BP[]
/LBP[]
3
2
EX/LEX
/EX[]
/LEX[]
Variable No.
Variable No.
VJ=
Joint speed
(%)
EX/LEX
/EX[]
/LEX[]
Variable No.
V=
TCP speed
(mm/s)
VR=
Position angular
speed (deg/s)
VE=
External axis
speed (%)
PL=
Positioning
level
2-182
10
NWAIT
11
BF
12
RF
13
TF
14
UF#
15
MTF
User
coordinate No.
16
UNTIL
17
SRCH
18
NSRCH
19
21
ACC=
+IMOV
Acceleration
adjustment
ratio (%)
20
DEC=
Deceleration
adjustment
ratio (%)
END
No.
Job Type
Control Group
Single
Single
Single
Single
Single
Coordinated
Two manipulators
Optional
Coordinated
Optional
2-183
Remarks
No
Tag
Control Group
1
Note
P/LP/P[]/LP[]
EX/LEX/EX[]/LEX[]
BP/LBP/BP[]/LBP[]
VJ=
EX/LEX/EX[]/LEX[]
V=
VR=
VE=
PL=
10
NWAIT
11
BF
12
RF
13
TF
14
UF#()
15
MTF
16
UNTIL
17
SRCH
Optional
18
NSRCH
Optional
19
ACC =
20
DEC =
21
+IMOV
Optional
: Available
: Available only with optional function enabled
: Not available
2-184
Explanation
1. P Variable number /LP Variable number /P [Array number] /LP [Array number] /EX Variable number /LEX Variable number /EX [Array number] /LEX
[Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
Note
P Variable number /
LP Variable number /
P [Array number]/
LP [Array number]
Variable number:
000 to 127
EX Variable number /
LEX Variable
number /
EX [Array number]/
LEX [Array number]
Variable number:
000 to 127
2. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 1 of this Explanation, the following tag can be added.
No
Tag
Explanation
BP Variable number /
LBP Variable
number /
BP [Array number]/
LBP [Array number]
2-185
Note
Variable number:
000 to 127
3. VJ=Joint speed
The following tag can be added or omitted.
No
4
Tag
VJ=Joint speed
Explanation
Note
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.01 %)
Tag
Explanation
EX Variable number /
LEX Variable
number /
EX [Array number]/
LEX [Array number]
2-186
Note
Variable number:
000 to 127
Tag
V=Tool center
VR=Position
VE=External
axis speed
Explanation
Note
Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting
the parameter
S2C173.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be
used.(Units: 0.01 %)
point speed
angular speed
6. PL=Position level
The following tag can be added or omitted.
No
Tag
Explanation
PL=Position level
Note
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
7. NWAIT
The following tag can be added or omitted.
No
10
Tag
NWAIT
Explanation
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.
2-187
Note
Tag
Explanation
Note
11
BF
12
RF
13
TF
14
No: 1 to 24
Variable B/I/D/LB/LI/
LD can be used.
15
MTF
9. UNTIL/SRCH/NSRCH
Choose one of the tags from the following table.
No
Tag
Explanation
Note
16
UNTIL
17
SRCH
18
NSRCH
2-188
Tag
ACC=Acceleration adjustment
ratio
Explanation
Specifies the acceleration adjustment ratio.
The ACC instruction reduces the amount of
acceleration in the specified ratio.
Note
Acceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Tag
DEC=Deceleration adjustment
ratio
Explanation
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
Note
Deceleration adjustment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
12. +IMOV
Add the following tag.
No
22
Tag
+IMOV
Explanation
Note
Example
2-189
SPEED
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Sets the playback speed. The manipulator operates at the speed specified in the SPEED
instruction when the speed is not specified in the move instruction.
Construction
The tag which can be used is limited by the type of the job.
SPEED
VJ=
V=
Control point
speed (mm/s)
END
VR=
Posture angle
speed (/ s)
VE=
External axis
speed (%)
No.
Job Type
Control group
Remarks
No
Tag
Control Group
1
VJ=
V=
VR=
VE=
Note
: Available
: Not available
2-190
Explanation
1. VJ=Joint speed
The following tag can be added or omitted.
No
1
Tag
VJ=Joint speed
Explanation
Note
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.01 %)
Tag
V=Tool center
point speed
Explanation
Specifies the tool center point speed.
Note
Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting
the parameter
S2C173.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
Tag
VR=Position
angular speed
Explanation
Specifies the position angular speed.
2-191
Note
Speed: 0.1 degrees
to 180.0 degrees/s
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 deg/s)
Tag
VE=External axis
speed
Explanation
Specifies the external axis speed.
Note
Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be
used.(Units: 0.01 %)
Example
NOP
MOVJ VJ=100.00
MOVL V=138
SPEED VJ=50.00 V=276 VR=30.0
MOVJ
MOVL
MOVL VR=60.0
END
2-192
REFP
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
It is an instruction which has the position data by which a supplementary point of the wall
point, etc. for weaving is set.
Construction
The tag which can be used is limited by the type of the job.
REFP
Reference
point No.
RB1
RB2
RB3
ST1
ST2
ST3
ST4
ST5
10
ST6
2-193
END
11
12
Robot teaching
position file No.
P/LP/P[]/
LP[]
13
Base teaching
position file No.
Station teaching
position file No.
14
Variable No.
BP/LBP
/BP[]
/LBP[]
15
Variable No.
16
17
Station teaching
position file No.
18
EX/LEX
/EX[]
/LEX[]
EX/LEX
/EX[]
/LEX[]
Variable No.
Variable No.
No.
Job Type
Control Group
Single
Single
Single
Single
Single
Coordinated
Two manipulators
Optional
Coordinated
Optional
Coordinated
Coordinated
2-194
Remarks
Optional
No
Control Group
Tag
Reference point
number
RB1
RB2
RB3
ST1
ST2
ST3
ST4
ST5
10
ST6
11
Robot teaching
position file number
12
P/LP/P[]/LP[]
13
14
Note
15
BP/LBP/BP[]/LBP[]
16
EX/LEX/EX[]/LEX[]
17
Station teaching
position file number
18
EX/LEX/EX[]/LEX[]
: Available
: Not available
Explanation
Tag
Reference point
number
Explanation
Specifies the reference point (REFP) number.
2-195
Note
Reference points:
1 to 8
SUPPLEMENT
REFP2
Wall
Wall
REFP2
REFP1
Wall direction
Wall direction
REFP2
REFP1
Advanced
direction
Advanced
direction
Horizontal
direction
2. RB1/RB2/RB3/ST1/ST2/ST3/ST4/ST5/ST6
Choose one of the tags from the following table.
No
Tag
Explanation
RB1
RB2
RB3
ST1
ST2
ST3
ST4
ST5
10
ST6
2-196
Note
3. Robot teaching position file number /P Variable number /LP Variable number /P [Array number] /LP [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
Note
11
Robot teaching
position file number
12
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Variable number:
000 to 127
Tag
Explanation
13
Base teaching
position file number
Note
On the job display,
this tag is not displayed.
Tag
Explanation
14
Station teaching
position file number
The position in the reference point where the station axis is taught is unconditionally written in this
file. This teaching position cannot be edited.
2-197
Note
On the job display,
this tag is not displayed.
6. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 3 of this Explanation, the following tag can be added.
No
Tag
Explanation
15
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
Note
Variable number:
000 to 127
7. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
number]
When a P Variable number, LP Variable number, P [Array number], or LP [Array number] is
selected from the table in part 3 of this Explanation, the following tag can be added.
No
Tag
Explanation
16
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
2-198
Note
Variable number:
000 to 127
Tag
Explanation
Note
17
Station teaching
position file number
18
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
Variable number:
000 to 127
Example
(1) Register REFP1 when the wall direction and the Z direction of the robot axis are different.
Wall direction
MOVL V=138
ARCON ASF#(1)
REFP 1
MOVL V=138
Z-axis
REFP1
(2) Register REFP2 when the approach point is on the other side of the wall.
MOVJ VJ=25.00
MOVL V=138
ARCON ASF#(1)
REFP 2
MOVL V=138
Approach point
Wall
Approach point
REFP2
2-199
2.5
Shift Instruction
SFTON
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Begins the parallel shift operation. The amount of the parallel shift is set in a positional variable by the increment value of X, Y, and Z in each coordinate system.
Construction
The tag which can be used is limited by the type of the job.
SFTON
RB1
RB2
RB3
P/LP/P[]/
LP[]
Variable No.
BP/LBP
/BP[]
/LBP[]
Variable No.
EX/LEX
/EX[]
/LEX[]
Variable No.
END
BP/LBP
/BP[]
/LBP[]
Variable No.
EX/LEX
/EX[]
/LEX[]
Variable No.
BF
10
RF
11
TF
12
UF#
User
coordinate No.
2-200
No.
Job Type
Control Group
Remarks
Single
Single
Single
Single
Single
Coordinated
Two manipulators
Optional
Coordinated
Optional
Coordinated
Coordinated
Optional
No
Tag
Control Group
1
RB1
RB2
RB3
P/LP/P[]/LP[]
BP/LBP/BP[]/LBP[]
EX/LEX/EX[]/LEX[]
BP/LBP/BP[]/LBP[]
EX/LEX/EX[]/LEX[]
BF
10
RF
11
TF
12
UF#()
Note
: Available
: Not available
2-201
Explanation
1. RB1/RB2/RB3
Choose one of the tags from the following table.
No
Tag
Explanation
RB1
RB2
RB3
Note
2. P Variable number /LP Variable number /P [Array number] /LP [Array number] /BP Variable number /LBP Variable number /BP [Array number] /LBP
[Array number] /EX Variable number /LEX Variable number /EX [Array
number] /LEX [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Variable number:
000 to 127
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
Variable number:
000 to 127
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
Specifies the position variable number of the station axis by which the shift value is set.
Only the increment value set in the variable of
the specified number shifts.
Variable number:
000 to 127
2-202
Note
3. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array
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, the following tag can be added.
No
Tag
BP Variable number/
LBP Variable
number/
BP [Array number]/
LBP [Array number]
Explanation
Specifies the position variable number of the
base axis by which the shift value is set.
Only the increment value set in the variable of
the specified number shifts.
Note
Variable number:
000 to 127
4. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array
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, the following tag can be added.
No
Tag
Explanation
EX Variable number/
LEX Variable
number/
EX [Array number]/
LEX [Array number]
Specifies the position variable number of the station axis by which the shift value is set.
Only the increment value set in the variable of
the specified number shifts.
2-203
Note
Variable number:
000 to 127
Tag
Explanation
BF
10
RF
11
TF
12
Note
No.1 to 24
Variable B/I/D/LB/LI/
LD can be used.
Example
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 2
Step 4
Step 6
Step 1
Step 3
Step 5
2-204
SFTOF
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The tags to be added are decided according to the type of the job.
SFTOF
END
RB1
RB2
RB3
ST
No.
Job Type
Control group
Remarks
Single
Coordinated
Optional
Coordinated
Optional
No
Control group
Tag
1
RB1
RB2
RB3
ST
Note
3
: Available
: Not available
2-205
Explanation
1. RB1/RB2/RB3/ST
Choose one of the tags from the following table.
No.
Tag
Explanation
RB1
RB2
RB3
ST
Note
Example
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 2
Step 4
Step 6
Step 1
Step 3
Step 5
2-206
MSHIFT
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Calculates the amount of the shift in the specified coordinate system according to Data 2 and
Data 3 and stores the result in Data 1.
Data 2 indicates the reference position to carry out the parallel shift, and Data 3 is the target
position (shifted position).
Construction
MSHIFT <Data 1> Coordinate system designation <Data 2> <Data 3>
MSHIFT
PX/PX[]
/LPX
/LPX[]
BF
RF
TF
UF#
MTF
PX/PX[]
/LPX
/LPX[]
Variable No.
User
coordinate No.
Variable No.
2-207
PX/PX[]
/LPX
/LPX[]
Variable No.
END
Explanation
Tag
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Explanation
Specifies the number of the expanded position
variable to store the calculated shift.
Note
<Data 1>
Tag
Explanation
Note
BF
RF
TF
No.: 1 to 24
Variable B/I/D/LB/LI/
LD can be used.
MTF
2-208
Tag
Explanation
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Note
<Data 2>
Tag
PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Explanation
Specifies the expanded position type variable
number of the target position to calculate the
amount of the shift.
Note
<Data 3>
Example
NOP
MOVJ VJ=20.00
GETS PX000 $PX000
MOVJ VJ=20.00
GETS PX001 $PX000
MSHIFT PX010 BF PX000 PX001
END
2-209
2.6
IF
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Evaluates the various conditions during operation. This instruction is added after other instructions for processing.
Construction
IF
IN#
Input No.
IG#
B/LB/B[]/
LB[]
Variable No.
I/LI/
I[]/LI[]
Variable No.
D/LD/D[]/
LD[]
Variable No.
R/LR/R[]/
LR[]
Variable No.
2-210
END
10
11
<>
14
15
<>
16
>
17
>=
18
<
19
<=
25
26
<>
27
>
28
>=
29
<
30
<=
B/LB/B[]/
LB[]
ON/OFF
12
B/LB/B[]/
LB[]
13
Byte type
constant
20
Byte type
constant
Variable No.
Variable No.
B/LB/B[]/
LB[]
Variable No.
22
I/LI/
I[]/LI[]
Variable No.
23
D/LD/D[]/
LD[]
Variable No.
24
R/LR/R[]/
LR[]
Variable No.
Integer type
constant
32
B/LB/B[]/
LB[]
Variable No.
33
I/LI/
I[]/LI[]
Variable No.
34
D/LD/D[]/
LD[]
Variable No.
35
R/LR/R[]/
LR[]
Variable No.
2-211
21
31
36
37
<>
38
>
39
>=
40
<
41
<=
47
48
<>
49
>
50
>=
51
<
52
<=
42
Double integer
type constant
43
B/LB/B[]/
LB[]
Variable No.
44
I/LI/
I[]/LI[]
Variable No.
45
D/LD/D[]/
LD[]
Variable No.
46
R/LR/R[]/
LR[]
Variable No.
53
Real type
constant
54
B/LB/B[]/
LB[]
Variable No.
55
I/LI/
I[]/LI[]
Variable No.
56
D/LD/D[]/
LD[]
Variable No.
57
R/LR/R[]/
LR[]
Variable No.
2-212
Explanation
1. IN# (Input number) /IG# (Input group number) /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI
Variable number /I [Array number] /LI [Array number] /D Variable number /
LD Variable number /D [Array number] /LD [Array number] /R Variable
number /LR Variable number /R [Array number] /LR [Array number]
Choose one of the tags from the following table.
No
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
2-213
2. =
When an IN#(Input number) is selected from the table in part 1 of this Explanation, add the following tag.
No
7
Tag
=
Explanation
Note
It is equal.
3. B Variable number /LB Variable number /B [Array number] /LB [Array number] /ON /OFF
When an IN#(Input number) is selected from the table in part 1 of this Explanation, choose
one of the tags from the following table after the equal sign (=) is added from the table in part
2 of this Explanation.
No
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
ON/OFF
4. =/<>
When an IG#(Input group number) is selected from the table in part 1 of this Explanation,
choose one of the tags from the following table.
No
Tag
Explanation
10
It is equal.
11
<>
It is not equal.
2-214
Note
5. B Variable number /LB Variable number /B [Array number] /LB [Array number] /ON /OFF
When an IG#(Input group number) is selected from the table in part 1 of this Explanation,
choose one of the tags from the following table after = or <> are added from the table in
part 4 of this Explanation.
No
Tag
Explanation
Note
12
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
13
6. =/<>/>/>=/</<=
When a B Variable number, LB Variable number, B [Array number], or LB [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table.
No
Tag
Explanation
14
It is equal.
15
<>
It is not equal.
16
>
It is greater than.
17
>=
18
<
It is less than.
19
<=
2-215
Note
Tag
Explanation
Note
20
21
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
22
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
23
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
24
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
2-216
8. =/<>/>/>=/</<=
When an I Variable number, LI Variable number, I [Array number] or LI [Array number] is
selected the table in part 1 of this Explanation, choose one of the tags from the following table.
No
Tag
Explanation
25
It is equal.
26
<>
It is not equal.
27
>
It is greater than.
28
>=
29
<
It is less than.
30
<=
2-217
Note
Tag
Explanation
31
32
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
33
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
34
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
35
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
2-218
Note
10. =/<>/>/>=/</<=
When a D Variable number, LD Variable number, D [Array number] or LD [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table.
No
Tag
Explanation
36
It is equal.
37
<>
It is not equal.
38
>
It is greater than.
39
>=
40
<
It is less than.
41
<=
2-219
Note
11. Double precision type constant/ B Variable number /LB Variable number
/B [Array number] /LB [Array number] /I Variable number /LI Variable number /I [Array number] /LI [Array number] /D Variable number /LD Variable
number /D [Array number] /LD [Array number] /R Variable number /LR Variable number /R [Array number] /LR [Array number]
When a D Variable number, LD Variable number, D [Array number], or LD [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table after "=", "<>", ">", ">=", "<" or "<=" is selected from the table in part 10 of this Explanation.
No
Tag
Explanation
42
Double precision
type constant
43
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
44
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
45
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
46
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
2-220
Note
12. =/<>/>/>=/</<=
When an R Variable number, LR Variable number, R [Array number] or LR [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table.
No
Tag
Explanation
47
It is equal.
48
<>
It is not equal.
49
>
It is greater than.
50
>=
51
<
It is less than.
52
<=
2-221
Note
13. Real type constant /B Variable number /LB Variable number /B [Array
number] /LB [Array number] /I Variable number /LI Variable number /I
[Array number] /LI [Array number] /D Variable number /LD Variable number /D [Array number] /LD [Array number] /R Variable number /LR Variable
number /R [Array number] /LR [Array number]
When an R Variable number, LR Variable number, R [Array number], or LR [Array number] is
selected from the table in part 1 of this Explanation, choose one of the tags from the following
table after "=", "<>", ">", ">=", "<" or "<=" is selected from the table in part 12 of this Explanation.
No
Tag
Explanation
Note
53
54
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
55
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
56
D Variable number/
LD Variable number/
D [Array number]/
LD [Array number]
57
R Variable number/
LR Variable number/
R [Array number]/
LR [Array number]
Example
2-222
UNTIL
Instruction set:
SUBSET
STANDARD
EXPANDED
Not available
Available
Available
Function
Evaluates the input conditions during operation. This instruction is added after other instructions for processing.
Construction
UNTIL
IN#
Input No.
B/LB/B[]/
LB[]
ON/OFF
Variable No.
END
Explanation
Tag
IN# (Input number)
Explanation
Specifies the number of the general-purpose
input signal which becomes a input condition.
Note
No.: 1 to 1024
Variable B/I/D/LB/LI/
LD can be used.
2. =
Add the following tag.
No.
2
Tag
=
Explanation
It is equal.
2-223
Note
Tag
Explanation
Note
B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
ON/OFF
Example
Step 3
Step 2
MOVJ VJ=50.00 UNTIL
IN#(14)=ON
2-224
ENWAIT
The ENWAIT instruction can be used only with parameter S2C576.
Instruction set:
SUBSET
STANDARD
EXPANDED
Parameter
Available
Available
Available
S2C576
Function
Carries out, in advance for the specified time, an instruction other than a move instruction on
the instruction line next to the move instruction that was added with ENWAIT.
Construction
ENWAIT
T=
Time (s)
END
Explanation
1. T=Time
Add the following tag.
No.
1
Tag
T=Time
Explanation
Specifies the time in which the next instruction
excluding a move instruction is carried out.
Note
Units: seconds
Variable I/LI/I []/LI []
can be used.
(Units: 0.01 seconds)
Example
2-225
2.7
ARCON
For arc welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
AR C O N
EN D
W ELD 1
ASF#
W ELD 2
AC =
W ELD 3
W ELD 4
A rc start condition
file N o.
C urrent output
(A )
AV=
V oltage output
(V )
AVP=
R atio to proper
voltage output
value (% )
)
B
T=
Tim e (s)
10
V=
W elding speed
2-226
11
R ET R Y
12
R EPLAY
Explanation
1. WELD1/WELD2/WELD3/WELD4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
No
Tag
Explanation
WELD1
Specifies Welder 1.
WELD2
Specifies Welder 2.
WELD3
Specifies Welder 3.
WELD4
Specifies Welder 4.
Note
Tag
Explanation
Note
ASF#(Arc start
condition file
number)
No: 1 to 48
Variable B/I/D/LB/LI/
LD can be used.
Current value: 1 to
999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
Tag
Explanation
Note
Voltage value:
0.1V to 50.0 V
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1V)
AVP=Ratio to
proper voltage
output value
2-227
4. T=Time
When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted.
No
9
Tag
T=Time
Explanation
Specifies the timer value at the welding start.
Note
Unit: Seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
5. V=Welding speed
When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted.
No
Tag
10
V=Welding speed
Explanation
Specifies the speed while welding.
Note
Speed: 0.1 mm to
1500.0 mm/s
Setting the parameter S2C101 can
change the units.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
6. RETRY
When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted.
No
11
Tag
RETRY
Explanation
Specifies the RETRY function.
The RETRY function makes it so that the manipulator does not stop and work is not interrupted
when an arc generation error occurs.
Note
Refer to the supplement RETRY function.
7. REPLAY
When RETRY is selected from the table in part 6 of this Explanation, add the following tag.
No
12
Tag
REPLAY
Explanation
Specifies the REPLAY mode.
REPLAY mode is one of the operation modes.
When the RETRY function is available, the
ARCON processing can be done again.
2-228
Note
Refer to the supplement RETRY function.
SUPPLEMENT
RETRY function
The RETRY function performs the arc retry automatically with a condition set in the auxiliary condition file, when an arc generation error occurs.
When ARCON is processed again, the arc is generated and the manipulator continues
working.
SUPPLEMENT
For details of the RETRY function, refer to the Operators Manual for Arc Welding.
2-229
Example
Step 1
Step 2
Step 3
Weaving starts
Welding starts
Step 4
Welding ends
Weaving ends
Step 5
Step 6
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-230
ARCOF
For arc welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
END
W ELD 1
AEF#
W ELD 2
AC=
W ELD 3
W ELD 4
AV=
V o lta g e o u tp u t
(V )
AVP=
R a tio to p ro p e r
vo lta g e o u tp u t
va lu e (% )
A rc e n d
c o n d itio n file
No.
C u rre n t o u tp u t
(A )
)
A
T=
T im e (s )
10
A N TS TK
Explanation
1. WELD1/WELD2/WELD3/WELD4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
No
Tag
Explanation
WELD1
Specifies Welder 1.
WELD2
Specifies Welder 2.
WELD3
Specifies Welder 3.
WELD4
Specifies Welder 4.
2-231
Note
Tag
Explanation
Note
AEF#(Arc end
condition file
number)
No. : 1 to 12
Variable B/I/D/LB/LI/
LD can be used.
Current value:
1 to 999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
Tag
Explanation
Note
AVP=Ratio to
proper voltage
output value
4. T=Time
When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted.
No
9
Tag
T=Time
Explanation
Specifies the timer value at welding end.
2-232
Note
Unit: Seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
5. ANTSTK
When AC=Current output value is selected from the table in part 2 of this Explanation, the following tag can be added or omitted.
No
10
SUPPLEMENT
Tag
ANTSTK
Explanation
Note
SUPPLEMENT
For details of the automatic wire sticking release function, refer to the Operators Manual
for Arc Welding.
2-233
Example
Step 1
Step 2
Step 3
Weaving start
Welding start
Step 4
Welding end
Weaving end
Step 5
Step 6
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-234
VWELD
For arc welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
V o lta g e
re fe re n c e v a lu e
(V )
VW ELD
W ELD1
I/L I/
I[]/L I[]
6
2
W ELD2
W ELD3
W ELD4
END
V a ria b le N o .
Explanation
1. WELD1 /WELD2/WELD3/WELD4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
No
Tag
Explanation
WELD1
Specifies Welder 1.
WELD2
Specifies Welder 2.
WELD3
Specifies Welder 3.
WELD4
Specifies Welder 4.
2-235
Note
Tag
Explanation
Note
Command value:
-14.00 V to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
SUPPLEMENT
For details of the output characteristics of the welder, refer to the Operators Manual for
Arc Welding.
Example
2-236
AWELD
For arc welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
C u rre n t re fe re n c e
v a lu e (A )
AW ELD
W ELD1
I/L I/
I[]/L I[]
6
2
W ELD2
W ELD3
W ELD4
END
V a ria b le N o .
Explanation
1. WELD1/WELD2/WELD3/WELD4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
No
Tag
Explanation
WELD1
Specifies Welder 1.
WELD2
Specifies Welder 2.
WELD3
Specifies Welder 3.
WELD4
Specifies Welder 4.
2-237
Note
Tag
Explanation
Note
Current command
value
Command value:
-14.00 V to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
I Variable number/
LI Variable number/
I [Array number]/
LI [Array number]
SUPPLEMENT
For details of the output characteristics of the welder, refer to the Operators Manual for
Arc Welding.
Example
2-238
ARCSET
For arc welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
ARCSET
W ELD1
W ELD2
W ELD3
W ELD4
Current output
value (A)
AC=
AV=
Voltage output
value (V)
AVP=
Ratio to proper
voltage output
(% )
V=
W elding speed
END
AN3=
Aim ed value of
instruction
voltage (V)
10
2-239
AN4=
Aim ed value of
instruction
voltage (V)
Explanation
1. WELD1/WELD2/WELD3/WELD4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
No.
Tag
Explanation
WELD1
Specifies Welder 1.
WELD2
Specifies Welder 2.
WELD3
Specifies Welder 3.
WELD4
Specifies Welder 4.
Note
Tag
AC=Current output value
Explanation
Note
Current value:
1 to 999 A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
Tag
Explanation
Note
Voltage value:
0.1V to 50.0 V
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1V)
AVP=Ratio to
proper voltage
output value
2-240
4. V=Welding speed
The following tag can be added or omitted.
No.
Tag
V=Welding speed
Explanation
Specifies the speed while welding.
Note
Speed:
0.1 mm to 1500.0
mm/s.
Setting the parameter S2C101 can
change the units.
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 mm/s)
Tag
Explanation
Note
AN3=Aimed value
of instruction voltage
Aimed value:
-14.00 V to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
Tag
Explanation
Note
10
AN4=Aimed value
of instruction voltage
Aimed value:
-14.00 V to +14.00 V
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 V)
2-241
Example
NOP
MOVJ VJ=50.00
MOVJ VJ=80.00
ARCON AC=200 AVP=100 T=0.30
MOVL V=50
MOVL V=50
ARCSET AC=250
MOVL V=65
ARCOF
MOVJ VJ=50.00
MOVJ VJ=100.00
END
Step 1
Step 2 (Arc start position)
Arc starts
Step 3
Step 4
Changes the welding condition (AC=200
AC=250)
Step 5
Arc ends
Step 6
Step 7
2-242
WVON
For arc, general-purpose, and laser welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The tags to be added differ depending on the control group in the job.
W VON
RB1
W E V#
RB2
AMP=
RB3
RB4
FREQ=
W eaving condition
file N o.
W eaving single
am plitude (m m )
W eaving
frequency (H z)
8
C
A N G L=
W eaving angle
(degree)
END
D IR =
D irection of
oscillation
No.
Job Type
Control Group
Single
Coordinated
Two manipulators
Remarks
Optional
2-243
No
Tag
Control Group
1
RB1
RB2
RB3
WEV#()
AMP=
FREQ=
ANGL=
DIR=
Note
: Available
: Not available
Explanation
1. RB1/RB2/RB3/RB4
Choose one of the tags from the following table.
No
Tag
Explanation
RB1
RB2
RB3
RB4
2-244
Note
Tag
Explanation
Note
WEV#(Weaving
condition file
number)
No. : 1 to 16
Variable B/I/D/LB/LI/
LD can be used.
AMP=Weaving
signal amplitude
Single amplitude:
0.1 mm to 99.9 mm
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm)
3. FREQ=Weaving frequency
When AMP=Weaving single amplitude is selected from the table in part 2 of this Explanation,
add the following tag.
No.
Tag
FREQ=Weaving
frequency
Explanation
Specifies the weaving frequency.
Note
Frequency:
1.0 Hz to 5.0 Hz
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 Hz)
4. ANGL=Weaving angle
When AMP=Weaving single amplitude is selected from the table in part 2 of this Explanation,
the following tag can be added or omitted after the tag FREQ=Weaving frequency is selected
from the table in part 3 of this Explanation.
No.
8
Tag
ANGL=Weaving
angle
Explanation
Specifies the weaving angle.
2-245
Note
Angle:
0.1 deg. to 180.0
deg.
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 deg.)
5. DIR=Direction of oscillation
The following tag can be added or omitted.
No.
9
Tag
DIR=Direction of
oscillation
Explanation
Note
Direction: 0 or 1
0: Forward
1: Reversed
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
2-246
SUPPLEMENT
Wearing conditions
Weaving single amplitude
Set the amplitude of oscillation.
Singleamplitude
Weaving angle
Set the angle of oscillation.
Wall direction
Wall direction
Angle: 0.1 deg. to 180.0 deg.
Angle
Virtical
distance
Horizontal
direction
Horizontal
direction
Horizonal distance
W eaving mode: Tri angul ar or L-shape osci l l ation
Direction of oscillation
The directions, forward and reversed, are defined as follows. Set 0 (forward) or 1
(reversed) for the direction of oscillation.
Wall direction
Wall direction
Forward
Reversed
Single
oscillation
Horizontal
direction
Horizontal
direction
Wall direction
Wall direction
Reversed
Forward
Trianglar
oscillation
Horizontal
direction
Wall direction
Horizontal
direction
Wall direction
Forward
Reversed
L-shape
oscillation
Horizontal
direction
2-247
Horizontal
direction
SUPPLEMENT
For details of the weaving condition file number, refer to the Operators Manual for the Arc
Welding.
Example
Step 1
Step 2
Step 3
Weaving starts
Welding starts
Step 4
Welding ends
Weaving ends
Step 5
Step 6
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-248
WVOF
For arc, general-purpose, and laser welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
The tags to be added differ depending on the control group in the job.
W VOF
RB1
RB2
RB3
RB4
END
No.
Job Type
Control Group
Single
Coordinated
Two manipulators
Remarks
Optional
No
Tag
Controlled group
1
RB1
RB2
RB3
RB4
Note
: Available
: Not available
2-249
Explanation
1. RB1/RB2/RB3/RB4
Choose one of the tags from the following table.
No
Tag
Explanation
Note
RB1
RB2
RB3
RB4
Example
NOP
MOVJ VJ=50.00
MOVL V=220
MOVL V=200
WVON WEV#(2)
ARCON AC=220 AVP=100 T=0.50
MOVL V=138
ARCOF AC=160 AVP=90 T=0.50
WVOF
MOVL V=200
MOVJ VJ=50.00
END
Step 1
Step 2
Step 3
Weaving starts
Welding starts
Step 4
Welding ends
Weaving ends
Step 5
Step 6
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-250
ARCCTS
For arc welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Controls the welding current and the voltage in the specified starting section.
This function is used with the move instruction. The current and the voltage are changed while
the robot is moving. The aimed value and section have to be set. The section is specified as a
distance from the moving start point. If it is not specified, it is regarded as the entire section of
the move instruction.
Construction
ARCCTS
W ELD1
W ELD2
W ELD3
W ELD4
Current output
(A)
AC=
AV=
Voltage output
(V)
AVP=
Ratio to proper
voltage output
value (%)
AN3=
Command
voltage aimed
value (V)
END
AN4=
Command
voltage aimed
value (V)
10
2-251
DIS=
Excution
section (mm)
Explanation
1. WELD1/WELD2/WELD3/WELD4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
No
Tag
Explanation
WELD1
Specifies Welder 1.
WELD2
Specifies Welder 2.
WELD3
Specifies Welder 3
WELD4
Specifies Welder 4
Note
Tag
AC=Current output value
Explanation
Note
Current value: 1 to
999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
Tag
Explanation
Note
AVP=Ratio to
proper voltage
output value
2-252
Tag
Explanation
Note
AN3=Aimed value
of instruction voltage
Aimed value:
-14.00 V to +14.00 V
Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
Tag
Explanation
Note
AN4=Aimed value
of instruction voltage
Aimed value:
-14.00 V to +14.00 V
Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
6. DIS=Execution section
The following tag can be added or omitted.
No
10
SUPPLEMENT
Tag
DIS=Execution
section
Explanation
Note
Specifies the execution section where the current and the voltage are changed.
The execution section is set by the distance from
the moving start point.
If the section is not specified, all the section of
the move instruction is regarded as the execution section.
Section: 0.1 mm to
6553.5 mm
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 mm)
2-253
Example
ARCCTSexecuted
DIS =100
M ove distance specified
by move instructi on
We lding c ontinues
ARCCTSexecuted
DIS=100
Move di stance speci fied
by move i nstructi on
Welding c ontinues
2-254
ARCCTE
For arc welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Controls the welding current and the voltage in the specified end section.
This function is used with the move instruction and modifies the current and the voltage while
the manipulator is moving. The aimed value and the section are set. The section is specified
as a distance from the moving end point. If it is not specified, it is regarded as the entire section of the move instruction.
Construction
ARCCTE
W ELD1
W ELD2
W ELD3
W ELD4
Current output
(A)
AC=
AV=
Voltage output
(V)
AVP=
Ratio to proper
voltage output
value (%)
AN3=
Command
voltage aimed
value (V)
END
AN4=
Command
voltage aimed
value (V)
10
2-255
DIS=
Excution
section (mm)
Explanation
1. WELD1 /WELD2/WELD3/WELD4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more arc welding applications are included. These tags are
not displayed when there is only one application.
No
Tag
Explanation
WELD1
Specifies Welder 1.
WELD2
Specifies Welder 2.
WELD3
Specifies Welder 3.
WELD4
Specifies Welder 4.
Note
Tag
AC=Current output value
Explanation
Note
Current value: 1 to
999A
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
Tag
Explanation
Note
AVP=Ratio to
proper voltage
output value
2-256
Tag
Explanation
Note
AN3=Aimed value
of instruction voltage
Aimed value:
-14.00 V to +14.00 V
Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
Tag
Explanation
Note
AN4=Aimed value
of instruction voltage
Aimed value:
-14.00 V to +14.00 V
Variable I/I[]/LI/LI[]
can be used.
(Units: 0.01 V)
6. DIS=Execution section
The following tag can be added or omitted.
No
10
SUPPLEMENT
Tag
DIS=Execution
section
Explanation
Note
Specifies the execution section where the current and the voltage are modified.
The execution section is set by the distance from
the moving start point.
If the section is not specified, the entire section
of the move instruction is regarded as the execution section.
Section: 0.1 mm to
6553.5 mm
Variable B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/
LI[]/LD[] can be used.
(Units: 0.1 mm)
For details of the slope up/down function, refer to the Operators Manual for the Arc Welding.
2-257
Example
ARCCTEexecuted
DIS=100
M ov e distance speci fied
by m ov e instructi on
We l d i n g c ontinues
ARCCTEexecuted
DIS=100
Move distance specified
by move instructi on
Welding c ontinues
2-258
2.8
Handling Instruction
HAND
For handling applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Turns the signal to the tool valve ON or OFF to control the tool.
Construction
HAND
Hand No.
B/LB/B[]/
LB[]
ON/OFF
Variable No.
UNIT1
UNIT2
UNIT3
UNIT4
END
ALL
Explanation
1. UNIT1/UNIT2/UNIT3/UNIT4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more handling applications are included. These tags are not
displayed when there is only one application.
No.
Tag
Explanation
UNIT1
UNIT2
UNIT3
UNIT4
2-259
Note
2. Hand number
Add the following tag.
No.
5
Tag
Hand number
Explanation
Specifies the hand number.
Note
No.: 1 to 4
Variable B/I/D/LB/LI/
LD can be used.
Tag
Explanation
ON/OFF
Note
Least significant bit:
0: OFF
1: ON
4. ALL
The following tag can be added or omitted.
No.
8
Tag
ALL
Explanation
Specifies the simultaneous control of Valve 1 and
Valve 2.
Example
HAND 1 OFF
Turns OFF the signal output to tool valve 1.
2-260
Note
Used when a 3P
solenoid is used.
HSEN
For handling applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Monitors the input status of the tool sensor. Stores the result in the system variable $B014.
SUPPLEMENT
For details of system variables, refer to GETS of " 2.3 Operating Instruction ".
Construction
HSEN
UNIT1
UNIT2
UNIT3
UNIT4
Sensor No.
B/LB/B[]/
LB[]
ON/OFF
Variable No.
END
T=
FOREVER
Time (s)
Explanation
1. UNIT1/UNIT2/UNIT3/UNIT4
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more handling applications are included. These tags are not
displayed when there is only one application.
No.
Tag
Explanation
UNIT1
UNIT2
UNIT3
UNIT4
2-261
Note
2. Sensor number
Add the following tag.
No.
5
Tag
Sensor number
Explanation
Specifies the sensor number.
Note
No.: 1 to 8
Variable B/I/D/LB/LI/
LD can be used.
Tag
Explanation
ON/OFF
Note
Least significant bit:
0: OFF
1: ON
4. T=Time/FOREVER
Choose one of the tags from the following table.
No.
Tag
Explanation
Note
Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
T=Time
FOREVER
Example
HSEN 1 ON
Checks if sensor 1 is ON at the execution of an HSEN instruction and stores the result in the
system variable $B014.
1 is stored in $B014 when sensor 1 is ON, 0 is stored when sensor 1 is OFF.
2-262
2.9
GUNCL
For spot welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
GUNCL
GUN#
Gun No.
T=
Gun pressure
time (s)
END
ATT=
Anticipation
time (s)
Explanation
Tag
Explanation
Specifies the number of the air gun to which
pressure is applied.
Note
No.: 1 to 8
Variable B/I/D/LB/LI/
LD can be used.
2. T=Time
Add the following tag.
No.
2
Tag
T=Gun pressure
time
Explanation
Specifies the time during which the air gun is
closed.
2-263
Note
Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
Tag
ATT=Anticipaton
time
Explanation
Note
Specifies the anticipation time for which the execution of the GUNCL instruction is advanced.
The GUNCL instruction is carried out in advance
for the specified time before reaching the step
immediately before the GUNCL instruction.
An NWAIT tag must be added to the move
instruction of the step immediately before the
GUNCL instruction.
Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
Example
Step 5
Turns ON the Gun 1 pressure signal 0.5 seconds before the manipulator reaches Step 5, and
turns it OFF 2 seconds later (1.5 seconds after the manipulator reaches Step 5).
2-264
SPOT
For spot welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Starts the welding sequence after pressure has been applied to the air gun.
Construction
SPOT
GUN#
Gun 1 number
MODE=
Gun 1 operation
mode
Gun 1 welding
conditions
WTM=
D
4
MODE=
GUN#
Gun 2 number
Gun 2 operation
mode
WTM=
Gun 2 welding
conditions
END
7
ATT=
Anticipation time
(s)
Explanation
Tag
GUN# (Gun 1
number)
Explanation
Specifies the number of the air gun to be used
for welding.
For a 2-gun system, specify the number of the
first air gun.
2-265
Note
No.: 1 to 8
Variable B/I/D/LB/LI/
LD can be used.
SUPPLEMENT
Tag
MODE=Gun 1
operation mode
Explanation
Note
Mode: 0 to 4
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Single gun
Tag
Explanation
Note
WTM=Gun 1
welding condition
Condition No.:
1 to 255
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
2-266
Tag
Gun 2 number
Explanation
Note
No.: 1 to 8
Variable B/I/D/LB/LI/
LD can be used.
Tag
MODE=Gun2
operation mode
Explanation
Specifies the operation mode of the air gun.
For a 2-gun welding system, specify the operation mode of the second air gun.
Note
Mode: 0 to 4
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
Tag
Explanation
Note
WTM=Gun 2
welding condition
Condition No.: 1 to
255
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
2-267
7. ATT=Anticipation time
The following tag can be added or omitted.
No.
Tag
Explanation
Note
ATT=Anticipation
time
Specifies the anticipation time for which the execution of the SPOT instruction is advanced.
The SPOT instruction is carried out in advance
for the specified time before reaching the step
immediately before the SPOT instruction.
An NWAIT tag must be added to the move
instruction of the step immediately before the
SPOT instruction.
Units: seconds
Variable I/LI/I[]/LI[]
can be used.
(Units: 0.01 seconds)
Example
Step 5
0.5 seconds before the manipulator reaches Step 5, the spot welding sequence starts from the
moment the air gun is short open, and the air gun is full open after the sequence is completed.
Then the manipulator carries out the next step.
2-268
STROKE
For spot welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Switches the open status of the 2-step stroke gun to/from Full open to/from Short open when
not welding.
Construction
STROKE
GUN#
Gun No.
LONG
SHORT
END
Explanation
Tag
Explanation
Note
No.: 1 to 8
Variable B/I/D/LB/LI/
LD can be used.
2. LONG/SHORT
Choose one of the tag from the following table.
No.
Tag
Explanation
LONG
SHORT
Note
Example
Step 5
When the manipulator reaches Step 5, the stroke is changed to Full open to avoid interference, and then the manipulator moves to the next step.
2-269
STRWAIT
For spot welding applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
Confirms the specified open status of a 2-step stroke gun as short open or full open when not
welding.
Wait until the signal of the specified open status, short open or full open, is turned ON.
Construction
STRWAIT
GUN#
Gun No.
LONG
SHORT
END
Explanation
Tag
Explanation
Specify the number of the air gun whose open
status is to be confirmed.
Note
No.: 1 to 8
Variable B/I/D/LB/LI/
LD can be used.
2. LONG/SHORT
Choose one of the tags from the following table.
No.
Tag
Explanation
LONG
SHORT
2-270
Note
Example
Step 5
When the manipulator reaches Step 5, the open status changes to Full open, and the manipulator confirms the Full open status before moving to the next step.
2-271
TOOLON
For general-purpose applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
TOOLON
END
TOOL1
TOOL2
TOOL3
Explanation
1. TOOL1/TOOL2/TOOL3
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more general-purpose applications are included. These tags
are not displayed when there is only one application.
No.
Tag
Explanation
TOOL1
Specifies Tool 1.
TOOL2
Specifies Tool 2.
TOOL3
Specifies Tool 3.
2-272
Note
Example
TOOLON
Turns ON the work instruction.
Turns ON the work start instruction (dedicated output relay #50770) and waits for the work
start response (dedicated input relay #40570). When the work start response is turned ON,
the next instruction is carried out.
The work start response relay is designed to turn ON immediately after the output of the work
start instruction.
2-273
TOOLOF
For general-purpose applications
Instruction set:
SUBSET
STANDARD
EXPANDED
Available
Available
Available
Function
END
TOOL1
TOOL2
TOOL3
Explanation
1. TOOL1/TOOL2/TOOL3
Choose one of the tags from the following table. These tags are valid for a system with multiple applications in which two or more general-purpose applications are included. These tags
are not displayed when there is only one application.
No.
Tag
Explanation
TOOL1
Specifies Tool 1.
TOOL2
Specifies Tool 2.
TOOL3
Specifies Tool 2.
Note
Example
TOOLOF
Turns OFF the work instruction.
Turns ON the work end instruction (dedicated output relay #50771) and waits for the work end
response (dedicated input relay #40571). When the work end response is turned ON, the
next instruction is carried out.
The work end response relay is designed to turn ON immediately after the output of the work
end instruction.
2-274
NX100
INFORM MANUAL
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone
81-93-645-7745
Fax
81-93-645-7746
46-486-41410
BEIJING OFFICE
Room No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone
86-10-6532-1850
Fax
86-10-6532-1851
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.