Software; List Of Commands - Mitsubishi Electric MELFA CR800 Series Special Specifications Manual

4 Software

4.1 List of commands

The available new functions in MELFA-BASIC VI are given in
Table 4-1 ： List of MELFA-BASIC VI commands
Type Class
Structured Function procedure
program -
ming
Library #Include statement
function
Position Interpolation
and opera -
operation
tion control
Joint interpolation
Linear interpolation
Circular interpolation
Speed designation
Operation
Position control
Float control
Function
Defines the Function procedure.
Function procedure summarizes a series of processing enclosed by
the Function statement and the FEnd statement.
Reads the designated program.
Moves to the multiple designated positions with the designated
interpolation operations and options.
Moves to the designated position with joint interpolation.
Moves to the designated position with linear interpolation.
Moves along a designated arc (start point → passing point → start
point (end point)) with 3-dimensional circular interpolation (360
degrees).
Moves along a designated arc (start point → passing point → end
point) with 3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start
point → reference point → end point) with 3-dimensional circular
interpolation.
Moves along a set arc (start point → end point) with 3-dimensional
circular interpolation.
Designates the speed for various interpolation operations with a
percentage (0.1% unit).
Designate the speed for joint interpolation operation with a per -
centage
(0.1% unit).
Designates the speed for linear and circular interpolation with a
numerical value (mm/s unit).
Designates the acceleration/deceleration time as a percentage in
respect to the predetermined maximum acceleration/deceleration.
(1% unit)
Automatically adjusts the acceleration/deceleration according to
the parameter setting value.
Sets the hand and work conditions for automatic adjustment of the
acceleration/deceleration.
Adds a process unconditionally to the operation.
Adds a process conditionally to the operation.
Designates smooth operation.
Performance of movement is upgraded corresponding to the appli -
cation.
Designates the positioning completion conditions with a No. of
pulses.
Designates the positioning completion conditions with a distance in
a straight line
Turns the servo power ON/OFF for all axes.
Limits the operation of each axis so that the designated torque is
not exceeded.
Designates the base conversion data.
Designates the tool conversion data.
The robot arm rigidity is lowered and softened. (XYZ coordinate
system)
The robot arm rigidity is lowered and softened. (JOINT coordinate
system)
The robot arm rigidity is lowered and softened. (TOOL coordinate
system)
The robot arm rigidity is returned to the normal state.
The robot arm rigidity is designated.
Table 4-1.
4Software
Input format (example)
Function M Func(M1, M2)
M3=M1+M2
Func=M3
Exit Function
FEnd
#Include "PRG1"
Move L, P1, P2, P3, Spd=50
Mov P1
Mvs P1
Mvc P1,P2,P1
Mvr P1,P2,P3
Mvr2 P1,P9,P3
Mvr3 P1,P9,P3
Ovrd 100
JOvrd 100
Spd 123.5
Accel 50,80
Oadl ON
Loadset 1,1
Wth
WthIf
Cnt 1,100,200
MvTune 4
Fine 200
Fine 1, P
Servo OFF
Torq 4,10
Base P1
Tool P1
Cmp Pos ,&B00000011
Cmp Jnt ,&B00000011
Cmp Tool ,&B00000011
Cmp Off
CmpG
1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
List of commands 4-122