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Command
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)
ColChk (Col Check)
On Com GoSub (ON Communication Go Subrou-
tine)
Com On/Com Off/Com Stop (Communication ON/
OFF/STOP)
HOpen / HClose (Hand Open/Hand Close)
Error (error)
Skip (Skip)
Wait (Wait)
Clr (Clear)
(3) Definition instructions
Command
Dim (Dim)
Def Plt (Define pallet)
Plt (Pallet)
Def Act (Define act)
Act (Act)
Def Arch (Define arch)
Def Jnt (Define Joint)
Def Pos (Define Position)
Def Inte/Def Long/Def Float/Def Double (Define
Integer/Long/Float/Double)
Def Char (Define Character)
Def IO (Define IO)
Def FN (Define function)
Tool(Tool)
Base (Base)
Tool(Tool)
(4) Multi-task related
Command
XLoad (X Load)
XRun (X Run)
XStp (X Stop)
XRst (X Reset)
XClr (X Clear)
GetM (Get Mechanism)
RelM (Release Mechanism)
Priority (Priority)
Reset Err (Reset Error)
Explanation
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 or disables the impact detection function
Communication interrupt subroutine jump
Allows/prohibits/stops communication interrupts
Hand's open/close
User error
Skip while moving
Waiting for conditions
Signal clear
Explanation
Array variable declaration
Pallet declaration
Pallet position calculation
Interrupt definition
Starts or ends interrupt monitoring
Definition of arch shape for arch motion
Joint type position variable definition
XYZ type position variable definition
Integer or real number variable definition
Character variable definition
Signal variable definition
User function definition
Hand length setting
Robot base position setting
Tool length setting
Explanation
Loads a program to another task slot
Execute the program in another task slot
Stop the program in another task slot
Resets the program in another task slot being suspended
Cancels the loading of the program from the specified task slot
Obtains mechanical control right
Releases mechanical control right
Changes the task slot priority
Resets an error (use of default is not allowed)
4MELFA-BASIC IV
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List of Instructions 4-148
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