Melfa-Basic V; Melfa-Basic V Functions - Mitsubishi Electric CR750-Q Instruction Manual

4 MELFA-BASIC V

In this chapter, the functions and the detailed language specification of the programming language "MELFA-
BASIC V" are explained.

4.1 MELFA-BASIC V functions

The outline of the programming language "MELFA-BASIC V" is explained in this section. The basic move-
ment of the robot, signal input/output, and conditional branching methods are described.
Table 4-1:List of items described
Item
1 4.1.1Robot operation control
2
3
4
5
6
7
8
9 4.1.2Pallet operation
10 4.1.3Program control
11
12
13
14
15
16 4.1.4Inputting and outputting
external signals
17
18 4.1.5Communication
19 4.1.6Expressions and operations (1)List of operator
20
21
22 4.1.7Appended statement
For the detailed description of each instruction, please refer to
mand words".
Details
(1)Joint interpolation movement
(2)Linear interpolation movement
(3)Circular interpolation movement
(4)Continuous movement
(5)Acceleration/deceleration time and speed control
(6)Confirming that the target position is reached
(7)High path accuracy control
(8)Hand and tool control
--------------
(1)Unconditional branching, conditional branching,
waiting
(2)Repetition
(3)Interrupt
(4)Subroutine
(5)Timer
(6)Stopping
(1)Input signals
(2)Output signals
--------------
(2)Relative calculation of position data (multiplication)
(3)Relative calculation of position data (Addition)
--------------
Related instructions, etc.
Mov
Mvs
Mvr, Mvr2, Mvr3, Mvc
Cnt
Accel, Oadl
Fine, Mov and Dly
Prec
HOpen, HClose, Tool
Def Plt, Plt
GoTo, If Then Else, Wait
For Next, While WEnd
Def Act, Act
GoSub, CallP, On GoSub
Dly
End(Pause for one cycle), Hlt
M_In, M_Inb, M_Inw
M_Out, M_Outb, M_Outw
Open, Close, Print, Input
+, -, *, / , <>, <, >
P1 * P2
P1 + P2
Wth, WthIf
Page 168, "4.13 Detailed explanation of com-
MELFA-BASIC V functions 4-97
4MELFA-BASIC V
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