MOV UNTIL Instruction

During the execution of the move instruction to which the UNTIL tag is added, the specified condition is evaluated. If the condition is satisfied, the ongoing move instruction is forcibly completed and the next instruction is executed from its current position. 

Example:

Step 1 MOVJ VJ=100.00
Step 2 MOVJ VJ=50.00 UNTIL IN#(14)=ON
Step 3 MOVJ VJ=25.00

The axis moves toward Step 2 until input signal No. 14 is turned
ON. When input signal No. 14 is turned ON, the axis moves
toward Step 3.

The Until tag can be used for MOVJ, MOVL, and IMOV instructions.

YRC1000 System Software Version YAS4.40.00-00 and newer allow the UNITL tag to capture the robot's current position when the condition is met and store it in a position variable.

YRC1000 System Software Version YAS4.41.00-00 and newer allow the UNITL tag to monitor a logical expression instead of only one input.