Command Parameter - Mitsubishi Electric CR750-Q Instruction Manual

5.4 Command parameter

This parameter sets the items pertaining to the program execution and robot language.
Table 5-6: List Program Execution Related Parameter
Parameter
Parameter
No. of multitasks TASKMAX
Slot table Operation conditions for each task slot is set during multitask operations. These are set when
(Set during multi- the program is reset.
task operation.)
SLT*
* is 1 to 32
No. of arrays
name No. of characters
Integer 1 Designate the number of programs to be executed simultane-
ously.
Character Designate the [program name], [operation mode], [starting con-
string 4 ditions], [order of priority].
Program name: Selected program name. Use uppercase letters
when using alphabet. Lowercase characters are not recognized.
Operation mode: Continuous/1 cycle = REP/CYC
Starting conditions: Normal/Error/Always =START/Error/
ALWAYS
Order of priority: 1 to 31 (31 is the maximum)
Details explanation
REP:The program will be executed repeatedly.
CYC:The program ends after one cycle is completed. (The pro-
gram does not end if it runs in an endless loop created by a
GoTo instruction.)
START: This is executed by the START button on the operation
panel or by the start signal.
ALWAYS: This is executed immediately after the controller's
power is turned on. This program does not affect the sta-
tus such as startup. To edit a program whose attribute is
set to ALWAYS, first cancel the ALWAYS attribute.
A program with the ALWAYS attribute is being executed
continuously and therefore cannot be edited. Change
ALWAYS to START and turn on the controller's power
again to stop the constant execution.
Error: This is executed when an error is generated. This pro-
gram does not affect the status such as startup.
Programs with ALWAYS or Error set as the starting con-
dition cannot execute the following movement instruc-
tions. An error will be generated if any of them is
executed.
Mov,Mvs,Mvr,Mvr2,Mvr3,Mvc,Mva,
DRIVE, GetM, RelM, JRC
This value shows the number of lines to be executed at a time.
This has the same meaning as the number of lines in the Pri-
ority instruction. For instance, when two slots are used during
execution, if SLT1 is set to 1 and SLT2 is set to 2, after one
line of program in SLT1 is executed, two lines of program in
SLT2 is executed.
Therefore, more SLT2 programs will be executed and as a
result, priority of SLT2 is higher.
5Functions set with parameters
Factory setting
8
"",REP,START,1
Command parameter 5-463