Mitsubishi MELFA SQ Series Special Specifications Manual page 101

Type Class
Branching
Impact detection
Subroutine
Interrupt
Wait
Stop
End
Hand open
Hand close
Assignment
Input
Output
Mechanism designa -
tion
Selection
Start/stop
Branches unconditionally to the designated place.
Branches according to the designated conditions.
Repeats until the designated end conditions are satisfied.
Repeats while the designated conditions are satisfied.
Branches corresponding to the designated expression value.
Executes program block corresponding to the designated expression
value..
Moves the program process to the next line.
Set to enable/disable the impact detection.
Set the detection level of the impact detection.
Executes the designated subroutine. (Within program)
Returns from the subroutine.
Executes the designated program.
Defines the program argument executed with the CALLP command.
Executes the subroutine corresponding to the designated expression
value.
Defines the interrupt conditions and process.
Enables/disables the interrupt.
Defines the start line of the program to be executed when an interrupt is
generated from the communication line.
Enables the interrupt from the communication line.
Disables the interrupt from the communication line.
Stops the interrupt from the communication line.
Designates the wait time, and the output signal pulse output time. (0.01s
unit)
Waits until the variable becomes the designated value.
Stops the program execution.
Generates an error. During program execution, continue, stop or servo
OFF can be designated.
Ends the program execution.
Opens the designated hand.
Closes the designated hand.
Defines the input/output variables.
Retrieves the general-purpose input signal.
Calls out the general-purpose output signal.
Acquires the mechanism with the designated mechanism No.
Releases the mechanism with the designated mechanism No.
Selects the designated program for the designated slot.
Carries out parallel execution of the designated program.
Stops parallel execution of the designated program.
Returns the designated program's execution line to the head and enters
the program selection enabled state.
Function
4Software
Input format (example)
GoTo 120
If M1=1 Then GoTo *L100
Else GoTo 20
End If
For M1=1 TO 10
Next M1
While M1<10
Wend
On M1 GoTo *La1, *Lb2, *Lc3
Select
Case 1
Break
Case 2
Break
End Select
Skip
ColChk ON/OFF
ColLvl 100,80,,,,,,
GoSub *L200
Return
CallP "P10",M1,P1
FPrm M10,P10
On M1 GoSub *La1, *Lb2, *Lc3
Def Act 1, M1=1 GoTo *L100
Act 1=1
On Com(1) GoSub *L100
Com(1) On
Com(1) Off
Com(1) Stop
Dly 0.5
Wait M_In(1)=1
Hlt
Error 9000
End
HOpen 1
HClose 1
Def IO PORT1=BIT,0
M1=M_In(1)
M_Out(1) =0
GetM 1
RelM 1
XLoad 2,"P102"
XRun 3,"100",0
XStp 3
XRst 3
List of commands