Operator`s manual

2.4 Move Instruction
2-151
16. +MOVJ/+MOVL/+MOVC/+MOVS
Choose one of the tags from the following table.
Acceleration adjustment ratio
The acceleration adjustment ratio (ACC) reduces the amount of acceleration in the speci-
fied ratio.
Using this function can reduce the load inertia on the tool and the workpiece.
No Tag Explanation Note
22
+MOVJ Specifies the joint interpolation motion instruction
on the master manipulator’s side.
Available only with
the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
23
+MOVL Specifies the linear interpolation motion instruc-
tion on the master manipulator’s side.
Available only with
the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
24
+MOVC Specifies the circular interpolation motion
instruction on the master manipulator’s side.
Available only with
the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
25
+MOVS Specifies the spline interpolation motion instruc-
tion on the master manipulator’s side.
Available only with
the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function.
SUPPLE-
MENT
Speed
Time
Ordinaly
acceleration
ACC=70%
DEC=50%
Specified
ratio