YASKAWA FS100 Instructions Manual

Also see for MOTOMAN FS100: Instructions Instructions Maintenance manual Instructions Instructions

YASKAWA FS100 Instructions Manual Manual pdf 10 page image

1 Outline of INFORMFS100 1.1 About INFORM1-11 Outline of INFORM1.1 About INFORM1.1.1 INFORM IIIThe robot programming language used with FS100 is called INFORM III.INFORM III is composed of the instruction and the additional item (tag andnumeric data).• Instruction: It is used to execute the operation and processing. In thecase of a move instruction, when a position is taught, the moveinstruction is automatically displayed according to the interpolationmethod.• Additional item: The speed, time, etc. are set according to the type ofinstruction. Numeric data and character data are added to the tagthat specifies the condition as necessary.1.1.2 Type of InstructionThe instruction is divided into several types in terms of each process andoperation.MOVJ VJ=50.00InstructionTag Numeric dataAdditional itemType Content InstructionExampleI/O Instruction It is the instruction used to control the I/O. DOUT, WAITControlInstructionIt is the instruction used to control the processing andoperation.JUMP, TIMEROperatingInstructionIt is the instruction by which the variables, etc. are usedand operated.ADD, SETMoveInstructionIt is an instruction concerning the movement and thespeed.MOVJ, REFPShift Instruction It is an instruction used when a present teaching positionis shifted.SFTON,SFTOFInstructionwhich adheresto instructionIt is an instruction which adheres to the instruction. IF, UNTILWorkInstructionIt is an instruction concerning work. TOOLONOptionalInstructionIt is an instruction concerning optional functions. It canonly be used when the function is available.-