Operator`s manual

2.4 Move Instruction
2-199
8. Station teaching position file number/EX Variable number /LEX Variable
number /EX [Array number] /LEX [Array number]
Choose one of the tags from the following table.
(1) Register REFP1 when the wall direction and the Z direction of the robot axis are dif-
ferent.
(2) Register REFP2 when the approach point is on the other side of the wall.
No Tag Explanation Note
17
Station teaching
position file num-
ber
The station axis teaching position in each step is
written in this file unconditionally when the step is
taught. This teaching position cannot be edited.
On the job display,
this tag is not dis-
played.
18
EX Variable num-
ber/
LEX Variable
number/
EX [Array num-
ber]/
LEX [Array num-
ber]
Specifies the position variable number of the sta-
tion axis.
The position data set in the variable of a speci-
fied number becomes a reference point.
Variable number:
000 to 127
MOVL V=138
ARCON ASF#(1)
REFP 1
MOVL V=138
MOVJ VJ=25.00    Approach point
MOVL V=138
ARCON ASF#(1)
REFP 2
MOVL V=138
Example
REFP1
Wall direction
Z-axis
REFP2
Wall
Approach point