Operator`s manual

2.4 Move Instruction
2-150
13. UNTIL/NSRCH
Choose one of the tags from the following table.
14. ACC=Acceleration adjustment ratio
The following tag can be added or omitted.
15. DEC=Deceleration adjustment ratio
The following tag can be added or omitted.
No Tag Explanation Note
18
UNTIL Specifies the UNTIL instruction.
The UNTIL instruction is a tag instruction by
which the condition of the input signal is evalu-
ated during operation.
When the condition of the input signal is full, the
robot executes the next instruction.
Refer to UNTIL of
“2.6. Instruction
Which Adheres to
Instruction”.
19
NSRCH Specifies the NSRCH instruction.
The NSRCH instruction carries out the position
detection without stopping the manipulator’s
motion.
Available only with
the optional search-
in-motion function.
No Tag Explanation Note
20
ACC=Accelera-
tion adjustment
ratio
Specifies the acceleration adjustment ratio.
The ACC instruction reduces the amount of
acceleration in the specified ratio.
Acceleration adjust-
ment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
No Tag Explanation Note
21
DEC=Decelera-
tion adjustment
ratio
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
Deceleration adjust-
ment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.