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4 Software
4.1 List of commands
The available new functions in MELFA-BASIC VI are given in
Table 4-1: List of MELFA-BASIC VI commands
Type
Class
Struc-
Function procedure
tured pro-
gramming
Library
#Include statement
function
Position
Interpolation
and oper-
operation
ation con-
Joint interpolation
trol
Linear interpolation
Circular interpola-
tion
Speed designation
Operation
Position control
Float control
Function
Defines the Function procedure.
Function procedure summarizes a series of processing
enclosed by the Function statement and the FEnd statement.
Reads the designated program.
Moves to the multiple designated positions with the designated
interpolation operations and options.
Moves to the designated position with joint interpolation.
Moves to the designated position with linear interpolation.
Moves along a designated arc (start point→passing point→start
point (end point)) with 3-dimensional circular interpolation (360
degrees).
Moves along a designated arc (start point→passing point→end
point) with 3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc
(start point→reference point→end point) with 3-dimensional cir-
cular interpolation.
Moves along a set arc (start point→end point) with 3-dimen-
sional circular interpolation.
Designates the speed for various interpolation operations with a
percentage (0.1% unit).
Designate the speed for joint interpolation operation with a per-
centage
(0.1% unit).
Designates the speed for linear and circular interpolation with a
numerical value (mm/s unit).
Designates the acceleration/deceleration time as a percentage
in respect to the predetermined maximum acceleration/deceler-
ation. (1% unit)
Automatically adjusts the acceleration/deceleration according to
the parameter setting value.
Sets the hand and work conditions for automatic adjustment of
the acceleration/deceleration.
Adds a process unconditionally to the operation.
Adds a process conditionally to the operation.
Designates smooth operation.
Performance of movement is upgraded corresponding to the
application.
Designates the positioning completion conditions with a No. of
pulses.
Designates the positioning completion conditions with a dis-
tance in a straight line
Turns the servo power ON/OFF for all axes.
Limits the operation of each axis so that the designated torque
is not exceeded.
Designates the base conversion data.
Designates the tool conversion data.
The robot arm rigidity is lowered and softened. (XYZ coordinate
system)
The robot arm rigidity is lowered and softened. (JOINT coordi-
nate system)
The robot arm rigidity is lowered and softened. (TOOL coordi-
nate system)
The robot arm rigidity is returned to the normal state.
The robot arm rigidity is designated.
Table
4-1.
Function M Func(M1, M2)
FEnd
#Include "PRG1"
Move L, P1, P2, P3, Spd=50
Mov P1
Mvs P1
Mvc P1,P2,P1
Mvr P1,P2,P3
Mvr2 P1,P9,P3
Mvr3 P1,P9,P3
Ovrd 100
JOvrd 100
Spd 123.5
Accel 50,80
Oadl ON
Loadset 1,1
Wth
WthIf
Cnt 1,100,200
MvTune 4
Fine 200
Fine 1, P
Servo OFF
Torq 4,10
Base P1
Tool P1
Cmp Pos ,&B00000011
Cmp Jnt ,&B00000011
Cmp Tool ,&B00000011
Cmp Off
CmpG
1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.
0
4 Software
Input format (example)
M3=M1+M2
Func=M3
Exit Function
List of commands 4-91
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