Mitsubishi Electric CR750-Q Instruction Manual page 15

4 MELFA-BASIC V ........................................................................................................................... 4-97
4.1 MELFA-BASIC V functions ..................................................................................................... 4-97
4.1.1 Robot operation control .................................................................................................... 4-98
(1) Joint interpolation movement ......................................................................................... 4-98
(2) Linear interpolation movement ....................................................................................... 4-99
(3) Circular interpolation movement ................................................................................... 4-100
(4) Continuous movement ................................................................................................. 4-102
(5) Acceleration/deceleration time and speed control ........................................................ 4-103
(6) Confirming that the target position is reached .............................................................. 4-105
(7) High path accuracy control ........................................................................................... 4-106
(8) Hand and tool control ................................................................................................... 4-107
4.1.2 Pallet operation ............................................................................................................... 4-108
4.1.3 Program control .............................................................................................................. 4-113
(1) Unconditional branching, conditional branching, waiting .............................................. 4-113
(2) Repetition ..................................................................................................................... 4-114
(3) Interrupt ........................................................................................................................ 4-115
(4) Subroutine .................................................................................................................... 4-116
(5) Timer ............................................................................................................................ 4-117
(6) Stopping ....................................................................................................................... 4-117
4.1.4 Inputting and outputting external signals ........................................................................ 4-118
(1) Input signals ................................................................................................................. 4-118
(2) Output signals .............................................................................................................. 4-118
4.1.5 Communication ............................................................................................................... 4-119
4.1.6 Expressions and operations ........................................................................................... 4-120
(1) List of operator ............................................................................................................. 4-120
(2) Relative calculation of position data (multiplication) ..................................................... 4-122
(3) Relative calculation of position data (Addition) ............................................................. 4-122
4.1.7 Appended statement ....................................................................................................... 4-123
4.2 The difference between MELFA-BASIC V and MELFA-BASIC IV ........................................ 4-124
4.2.1 About MELFA-BASIC V .................................................................................................. 4-124
4.2.2 The feature of MELFA-BASIC V ..................................................................................... 4-124
4.2.3 Comparison with MELFA-BASIC IV ................................................................................ 4-124
4.3 Multitask function .................................................................................................................. 4-125
4.3.1 What is multitasking? ...................................................................................................... 4-125
4.3.2 Executing a multitask ...................................................................................................... 4-126
4.3.3 Operation state of each slot ............................................................................................ 4-126
4.3.4 Precautions for creating multitask program .................................................................... 4-128
(1) Relationship between number of tasks and processing time ....................................... 4-128
(2) Specification of the maximum number of programs executed concurrently ................. 4-128
(3) How to pass data between programs via external variables ........................................ 4-128
(4) Confirmation of operating status of programs via robot status variables ..................... 4-128
(5) The program that operates the robot is basically executed in slot 1. ........................... 4-128
(6) How to perform the initialization processing via constantly executed programs .......... 4-129
4.3.5 Precautions for using a multitask program ..................................................................... 4-129
(1) Starting the multitask .................................................................................................... 4-129
(2) Display of operation status ........................................................................................... 4-129
4.3.6 Example of using multitask ............................................................................................. 4-130
(1) Robot work details. ....................................................................................................... 4-130
(2) Procedures to multitask execution ............................................................................... 4-131
4.3.7 Program capacity ............................................................................................................ 4-132
(1) Program save area ....................................................................................................... 4-132
(2) Program edit area ......................................................................................................... 4-132
(3) Program execution area ............................................................................................... 4-132
4.4 Detailed specifications of MELFA-BASIC V .......................................................................... 4-133
(1) Program name .............................................................................................................. 4-133
(2) Command statement .................................................................................................... 4-133
(3) Variable ........................................................................................................................ 4-134
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