Operator`s manual

2.4 Move Instruction
2-188
8. BF/RF/TF/UF# (User coordinate number)
Choose one of the tags from the following table.
9. UNTIL/SRCH/NSRCH
Choose one of the tags from the following table.
No Tag Explanation Note
11
BF Specifies the increment value in the base coordi-
nate system.
12
RF Specifies the increment value in the robot coordi-
nate system.
13
TF Specifies the increment value in the tool coordi-
nate system.
14
UF#(User coordi-
nate number)
Specifies the increment value in the user coordi-
nate system.
No: 1 to 24
Variable B/I/D/LB/LI/
LD can be used.
15
MTF Specifies the incremental value in the master
tool coordinate system.
In the master tool coordinate system, position
data is converted to positions relative to the mas-
ter manipulator.
Available only with
the optional indepen-
dent/coordinated
function.
No Tag Explanation Note
16
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 ".
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
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.