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4Software
(1) MELFA-BASIC Ⅳ commands
Table 4-2 ： List of MELFA-BASIC IV commands
Type
Class
Joint interpolation
Linear interpolation
Circular interpolation Moves along a designated arc (start point → passing point → start point
Speed designation
Operation
Position control
Float control
Pallet
Branching
Impact detection
List of commands
4-100
Moves to the designated position with joint interpolation.
Moves to the designated position with linear interpolation.
(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 percentage
(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 param -
eter setting value.
ets the hand and work conditions for automatic adjustment of the accelera -
tion/deceleration.
Adds a process unconditionally to the operation.
Adds a process conditionally to the operation.
Designates smooth operation.
Designates the positioning completion conditions with a No. of pulses.
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. (TOOL coordinate system)
The robot arm rigidity is returned to the normal state.
The robot arm rigidity is designated.
Defines the pallet.
Operates the pallet grid point position.
Branches unconditionally to the designated place.
Branches according to the designated conditions.
Repeats until the designated end conditions are satisfied.
Repeats while the designated conditions are satisfied.
Branches corresponding to the designated expression value.
Executes program block corresponding to the designated expression value..
Moves the program process to the next line.
Set to enable/disable the impact detection.
Set the detection level of the impact detection.
Function
Input format (example)
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
FINE 200
SERVO OFF
TORQ 4,10
BASE P1
TOOL P1
CMP POS ,&B00000011
CMP TOOL ,&B00000011
CMP OFF
CMPG
1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
DEF PLT
1,P1,P2,P3,P4,5,3,1
PLT 1,M1
GOTO 120
IF M1=1 THEN GOTO 100
ELSE GOTO 20
END IF
FOR M1=1 TO 10
NEXT M1
WHILE M1<10
WEND
ON M1 GOTO 100,200,300
SELECT
CASE 1
BREAK
CASE 2
BREAK
END SELECT
SKIP
COLCHK ON/OFF
COLLVL 100,80,,,,,,
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