Mitsubishi CRn-500 Series Instruction Manual page 83

Command
ACCEL (Accelerate)
JRC(Joint Roll Change)
FINE(Fine)
SERVO(Servo)
WTH(With)
WTHIF(With If)
(4) Instructions related to program control that operate without any problem in the user mechanism
Command
IF...THEN...ELSE...ENDIF(If Then Else)
SELECT CASE
GOTO(Go To)
GOSUB (RETURN) (Go Subroutine)
RESET ERR(Reset Error)
CALLP(Call P)
FPRM(FPRM)
DLY(Delay)
HLT(Halt)
END(End)
ON...GOSUB(ON Go Subroutine)
ON...GOTO(On Go To)
FOR - NEXT (For-next)
WHILE-WEND(While End)
OPEN(Open)
PRINT(Print)
INPUT(Input)
CLOSE(Close)
COM ON/COM OFF/COM STOP
(Communication ON/OFF/STOP)
ON COM GOSUB
(ON Communication Go Subroutine)
HOPEN / HCLOSE(Hand Open/Hand Close)
ERROR(error)
SKIP(Skip)
WAIT(Wait)
CLR(Clear)
(5) Definition instructions that operate without any problem in the user mechanism
Command
DIM(Dim)
DEF PLT(Define pallet)
PLT(Pallet)
DEF ACT(Define act)
ACT(Act)
DEF JNT(Define Joint)
DEF POS(Define Position)
8.User Mechanism Settings, Operation, and Commands
Acceleration/deceleration rate specification
Enables multiple rotation of the tip axis
Robot's positioning range specification
Servo motor power ON/OFF
Addition instruction of movement instruction
Additional conditional instruction of movement instruction
Conditional branching
Enables multiple branching
Jump
Subroutine jump
Resets an error (use of default is not allowed)
Program call
Program call argument definition
Timer
Suspends a program
End a program
Subroutine jump according to the value
Jump according to the value
Repeat
Conditional repeat
Opens a file or communication line
Outputs data
Inputs data
Closes a file or communication line
Enables, disables or pauses communication interrupt
Communication interrupt subroutine jump
Hand's open/close
User error
Skip while moving
Waiting for conditions
Signal clear
Array variable declaration
Pallet declaration
Pallet position calculation
Interrupt definition
Starts or ends interrupt monitoring
Joint type position variable definition
XYZ type position variable definition
Explanation
Explanation
Explanation
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