Operator`s manual

2.4 Move Instruction
2-148
9. PL=Position level /SPDL=Speed level
Choose one of the tags from the following table.
No Tag Explanation Note
12
PL=Position level Specifies the position level.
The approach level when the manipulator
passes the position where the teaching proce-
dure was performed is called a positioning level.
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
13
SPDL=Speed
level
Specifies the speed level.
The speed level is the tag for the robot to end the
execution of the move instruction in the state of
servo float control, and to confirm the state which
has stopped. The operation ends when the
speed feedback pulse of all axes goes below a
constant value, and the manipulator is consid-
ered to have stopped.
Level: Only 0
Available only with
the optional servo-
float function.
Refer to the servo-
float function for
details.
Position level
The approach level when the manipulator passes the position where the teaching proce-
dure was performed is called a position level.
The approach level is set by the following parameters. (position zone)
Position level 1 : S1CxG33(µm)
Position level 2 : S1CxG34(µm)
Position level 3 : S1CxG35(µm)
Position level 4 : S1CxG36(µm)
Position level 5 : SICxG37 (µm)
Position level 6 : SICxG38 (µm)
Position level 7 : SICxG39 (µm)
Position level 8 : SICxG40 (µm)
SUPPLE-
MENT
P2
P1
P3
Positioning level 0
Positioning level 8
Positioning level 3
Positioning level 2
Positioning level 1
S1CxG33
S1CxG34
S1CxG35
S1CxG40