Mitsubishi MELFA CR1D Instruction Manual page 269

WthIf (With If)
[Function]
A process is conditionally added to the interpolation motion command.
[Format]
WthIf[]<Additional Condition>, <Process>
[Terminology]
<Additional Condition>
<Process>
[Reference Program]
(1) If the input signal 17 turns on, the robot will stop.
1 Mov P1 WthIf M_In(17)=1, Hlt
(2) If the current command speed exceeds 200 mm/s, turn on the output signal 17 for the M1+2 seconds.
2 Mvs P2 WthIf M_RSpd>200, M_Out(17)=1 Dly M1+2
(3) If the rate of arrival exceeds 15% during movement to P3, turn on the output signal 1.
3 Mvs P3 WthIf M_Ratio>15, M_Out(1)=1
[Explanation]
(1) This command can only be used to describe the additional conditions to the movement command.
(2) Monitoring of the condition will start simultaneously with the start of movement.
(3) It is not allowed to write the Dly instruction at the processing part.
(4) If the robot is stopped using the Hlt instruction, it decelerates and stops in the same way as for "Stop type
1" of the Def Act instruction.(Refer to
Describe the condition for adding the process. (Same as Act condition expres-
sion)
Describe the process to be added when the additional conditions are estab-
lished. (Same as Wth)
The commands that can be described as a process are as follow. (Refer to
syntax diagram.)
1. <Numeric type data B> <Substitution operator><Numeric type data A>
Example) M_Out(1)=1, P1=P2
2. Hlt statement
3. Skip statement
Page 179, " Def Act (Define act)")
Detailed explanation of command words 4-256
4MELFA-BASIC IV