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4MELFA-BASIC IV
4.6 List of Instructions
A list of pages with description of each instruction is shown below. They are listed in the order of presumed
usage frequency.
(1) Instructions related to movement control
Mov (Move)
Mvs (Move S)
Mvr (Move R)
Mvr2 (Move R2)
Mvr3 (Move R 3)
Mvc (Move C)
Mva (Move Arch)
Mv Tune (Move Tune)
Ovrd (Override)
Spd (Speed)
JOvrd (J Override)
Cnt (Continuous)
Accel (Accelerate)
Cmp Jnt (Comp Joint)
Cmp Pos (Composition Posture)
Cmp Tool (Composition Tool)
Cmp Off (Composition OFF)
CmpG (Composition Gain)
Oadl (Optimal Acceleration)
Loadset (Load Set)
Prec (Precision)
Torq (Torque)
JRC (Joint Roll Change)
Fine (Fine)
Fine J (Fine Joint)
Fine P (Fine Pause)
Servo (Servo)
Wth (With)
WthIf (With If)
(2) Instructions related to program control
Rem (Remarks)
If...Then...Else...EndIf (If Then Else)
Select Case (Select Case)
GoTo (Go To)
GoSub (Return)(Go Subroutine)
Reset Err (Reset Error)
CallP (Call P)
FPrm (FPRM)
Dly (Delay)
Hlt (Halt)
End (End)
4-147 List of Instructions
Command
Command
Explanation
Joint interpolation
Linear interpolation
Circular interpolation
Circular interpolation 2
Circular interpolation 3
Circular interpolation
Arch motion interpolation
Specification of the moving characteristics mode
Overall speed specification
Speed specification during linear or circular interpolation move-
ment
Speed specification during joint interpolation movement
Continuous path mode specification
Acceleration/deceleration rate specification
Specification of compliance in the JOINT coordinate system
Specification of compliance in the XYZ coordinate system
Specification of compliance in the Tool coordinate system
Compliance setting invalid
Compliance gain specification
Optimum acceleration/deceleration rate specification
Hand's optional condition specification
High accuracy mode specification
Torque specification of each axis
Enables multiple rotation of the tip axis
Robot's positioning range specification
Robot's positioning range specification by joint interpolation
Robot's positioning range specification by distance in a straight
line
Servo motor power ON/OFF
Addition instruction of movement instruction
Additional conditional instruction of movement instruction
Explanation
Comment(')
Conditional branching
Enables multiple branching
Jump
Subroutine jump
Resets an error (use of default is not allowed)
Program call
Program call argument definition
Timer
Suspends a program
End a program
Page
214
224
218
220
222
217
215
227
235
249
210
171
153
163
165
167
169
170
229
213
237
252
211
196
198
199
247
255
256
Page
241
208
245
204
203
242
158
201
193
205
194
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