Operator`s manual

2.4 Move Instruction
2-187
5. V=Tool center point speed /VR=Position angular speed /VE=External axis
speed
Choose one of the tags from the following table.
6. PL=Position level
The following tag can be added or omitted.
7. NWAIT
The following tag can be added or omitted.
No Tag Explanation Note
6
V=
Tool center
point speed
Specifies the tool center point speed. Speed: 0.1 mm to
1500.0 mm/s
The units can be
changed by setting
the parameter
S2C173.
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 mm/s)
7
VR=
Position
angular speed
Specifies the position angular speed. Speed: 0.1 degrees
to 180.0 degrees/s
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
(Units: 0.1 deg/s)
8
VE=
External
axis speed
Specifies the external axis speed. Speed: 0.01% to
100.00%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be
used.(Units: 0.01 %)
No Tag Explanation Note
9
PL=Position level Specifies the position level.
The positioning level is a level of the approach
when the manipulator passes the position where
the teaching procedure was done.
Level: 0 to 8
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
No Tag Explanation Note
10
NWAIT Specifies the NWAIT instruction.
The NWAIT instruction carries out the instruc-
tions excluding the move instruction from that
step on, at the same as time the manipulator is
carrying out that step.