Operator`s manual

2.4 Move Instruction
2-189
10. ACC=Acceleration adjustment ratio
The following tag can be added or omitted.
11. DEC=Deceleration adjustment ratio
The following tag can be added or omitted.
12. +IMOV
Add the following tag.
IMOV P000 V=138 RF
Moves from the current position at a rate of 138cm/min for the incremental value specified in
P000 in the robot coordinate system.
No Tag Explanation Note
19
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.
No Tag Explanation Note
20
DEC=Decelera-
tion adjustment
ratio
Specifies the deceleration adjustment ratio.
The DEC instruction reduces the amount of
deceleration in the specified ratio.
Deceleration adjust-
ment ratio: 20% to
100%
Variable B/B[]/LB/
LB[]/I/I[]/LI/LI[]/D/D[]/
LD/LD[] can be used.
No Tag Explanation Note
22
+IMOV Specifies the move instruction for an incremental
value of the master manipulator.
Available only with
the optional coordi-
nate function.
Refer to the indepen-
dent/coordinated
function for details.
Example