Operator`s manual

2.4 Move Instruction
2-161
11. SRCH/UNTIL/ASRCH/HPSRCH/NSRCH
Choose one of the tags from the following table.
12. ACC=Acceleration adjustment ratio
The following tag can be added or omitted.
No Tag Explanation Note
17
SRCH Specifies the SRCH instruction.
The SRCH instruction is a tag which detects the
start point.
Available only with
the optional start
point searching func-
tion.
Refer to " 2.6
Instruction Which
Adheres to an
Instruction ".
18
UNTIL Specifies the UNTIL instruction.
The UNTIL instruction is a tag by which the con-
ditions of the input signal are evaluated during
operation.
When the condition of the input signal is full, the
robot executes the next instruction.
Refer to " 2.6
Instruction Which
Adheres to an
Instruction ".
19
ASRCH Specifies the ASRCH instruction.
The ASRCH instruction detects input signal’s
voltage.
Available only with
the optional general-
purpose sensor func-
tion.
Refer to General-
purpose Sensor
function for details.
20
HPSRCH Specifies the HPSRCH instruction.
The HPSRCH instruction detects the position of
the zero-point.
Available only with
the optional zero-
point position detec-
tion function.
Refer to the Zero-
point Position Detec-
tion function for
details.
21
NSRCH Specifies the NSRCH instruction.
The NSRCH instruction detects a position with-
out stopping the motion.
Available only with
the optional search-
in-motion function.
No Tag Explanation Note
22
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.