Operator`s manual

2.4 Move Instruction
2-159
8. PL=Position level /CR=Corner radius /SPDL=Speed level
Choose one of the tags from the following table.
No Tag Explanation Note
11
PL=Position level Specifies the position level.
The position level is a level of the approach
when the manipulator passes the position where
the teaching procedure was performed.
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
12
CR=Corner
radius
Specifies the corner radius.
The manipulator operates by circular interpola-
tion in which the corner radius is specified.
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
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
the 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 been stopped.
Level: Only 0
Available only with
the optional servo-
float function.
Refer to the servo-
float function for
details.
Corner radius
The manipulator operates by circular interpolation in which the corner radius is specified.
SUPPLE-
MENT
Corner radius