Overview Of Commands; Position And Motion Control Commands; Program Control Commands; Hand Control Command - Mitsubishi Electric MELFA Instruction Manual

2 2 2 2 Explanation of Commands Explanation of Commands
Explanation of Commands Explanation of Commands

2.3 Overview of commands

2.3 Overview of commands
2.3 Overview of commands 2.3 Overview of commands
This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command
This section gives an overview of a wealth of commands provided for the MOVEMASTER command This section gives an overview of a wealth of commands provided for the MOVEMASTER command
method.Commands are classified mainly into six types to the following. You should use appropriate commands method.Commands are classified mainly into six types to the following. You should use appropriate commands
method.Commands are classified mainly into six types to the following. You should use appropriate commands method.Commands are classified mainly into six types to the following. You should use appropriate commands
according to your application. ( according to your application. (Refer according to your application. ( according to your application. (

(1) Position and motion control commands

(1) Position and motion control commands (1) Position and motion control commands (1) Position and motion control commands
These commands are concerned with definition of position and coordinates as well as assignment of interpolation, These commands are concerned with definition of position and coordinates as well as assignment of interpolation,
These commands are concerned with definition of position and coordinates as well as assignment of interpolation, These commands are concerned with definition of position and coordinates as well as assignment of interpolation,
speed, timer, tool, palette, etc. speed, timer, tool, palette, etc.
speed, timer, tool, palette, etc. speed, timer, tool, palette, etc.

(2) Program control commands

(2) Program control commands (2) Program control commands (2) Program control commands
These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting
and stopping, counter operation, etc. and stopping, counter operation, etc. and stopping, counter operation, etc. and stopping, counter operation, etc.

(3) Hand control command

(3) Hand control command
(3) Hand control command (3) Hand control command
These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you
can control gripping force by parameter setting. can control gripping force by parameter setting. can control gripping force by parameter setting. can control gripping force by parameter setting.

(4) I/O control command

(4) I/O control command (4) I/O control command (4) I/O control command
These commands are concerned with input/output control of external I/O. Both single and parallel bits can be These commands are concerned with input/output control of external I/O. Both single and parallel bits can be
These commands are concerned with input/output control of external I/O. Both single and parallel bits can be These commands are concerned with input/output control of external I/O. Both single and parallel bits can be
handled enabling the logical operation in the internal register. handled enabling the logical operation in the internal register.
handled enabling the logical operation in the internal register. handled enabling the logical operation in the internal register.
(5) Communication command (Using RS-232C) (5) Communication command (Using RS-232C)
(5) Communication command (Using RS-232C) (5) Communication command (Using RS-232C)
These commands transfer internal information of the robot such as counters, positions, program list, input/output These commands transfer internal information of the robot such as counters, positions, program list, input/output These commands transfer internal information of the robot such as counters, positions, program list, input/output These commands transfer internal information of the robot such as counters, positions, program list, input/output
signal status, parameters to personal computer. signal status, parameters to personal computer.
signal status, parameters to personal computer. signal status, parameters to personal computer.

(6) Other command

(6) Other command
(6) Other command (6) Other command
These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and
describing of comments. describing of comments. describing of comments. describing of comments.

2.4 Explanation of command

2.4 Explanation of command
2.4 Explanation of command 2.4 Explanation of command
All commands are explained in alphabetical order to the following All commands are explained in alphabetical order to the following
All commands are explained in alphabetical order to the following All commands are explained in alphabetical order to the following

(1) A viewpoint of command explanation

(1) A viewpoint of command explanation
(1) A viewpoint of command explanation (1) A viewpoint of command explanation
This shows the meaning of title described in the explanation of each command. This shows the meaning of title described in the explanation of each command. This shows the meaning of title described in the explanation of each command. This shows the meaning of title described in the explanation of each command.
1) ＊ Symbol 1) ＊ Symbol 1) ＊ Symbol 1) ＊ Symbol
2) 【 Function 】 2) 【 Function 】 2) 【 Function 】 2) 【 Function 】
3) 【 Input Format 】 3) 【 Input Format 】 3) 【 Input Format 】 3) 【 Input Format 】
4) 【Term】 4) 【Term】
4) 【Term】 4) 【Term】
5) 【 Explanation 】 5) 【 Explanation 】 5) 【 Explanation 】 5) 【 Explanation 】
6) 【 Relating Parameters 】 6) 【 Relating Parameters 】 :Shows the parameters that have relationship with the command. 6) 【 Relating Parameters 】 6) 【 Relating Parameters 】
7) 【 Sample program 】 7) 【 Sample program 】
7) 【 Sample program 】 7) 【 Sample program 】
(2) Line (2) Line (2) Line (2) Line
Line consists of line number and a command sentence. The length of one line contains 120 characters in Line consists of line number and a command sentence. The length of one line contains 120 characters in Line consists of line number and a command sentence. The length of one line contains 120 characters in Line consists of line number and a command sentence. The length of one line contains 120 characters in
maximum. maximum.
maximum. maximum.

(3) Position number

(3) Position number (3) Position number (3) Position number
The range of position number is 1-999. When program is different from each other, positions from 1-900 are The range of position number is 1-999. When program is different from each other, positions from 1-900 are The range of position number is 1-999. When program is different from each other, positions from 1-900 are The range of position number is 1-999. When program is different from each other, positions from 1-900 are
memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are
memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are
memorized as common. memorized as common.
memorized as common. memorized as common.
Further, you can appoint position number indirectly by the value of counter. Further, you can appoint position number indirectly by the value of counter. Further, you can appoint position number indirectly by the value of counter. Further, you can appoint position number indirectly by the value of counter.
An example 10 SC 21 ,10 An example An example An example
【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF 【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF 【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF 【 Relating Commands 】 CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF
2 2 2 2 - - - - 6 6 6 6 Overview of commands Overview of commands Overview of commands Overview of commands
Refer page 89, "3Command List") Refer Refer page 89, "3Command List") page 89, "3Command List") page 89, "3Command List")
:The command that has ＊ mark can not be described in the program with line :The command that has ＊ mark can not be described in the program with line :The command that has ＊ mark can not be described in the program with line :The command that has ＊ mark can not be described in the program with line
number. (If done, it will become error.) You should execute the commands number. (If done, it will become error.) You should execute the commands number. (If done, it will become error.) You should execute the commands number. (If done, it will become error.) You should execute the commands
directly by personal computer or teaching box. directly by personal computer or teaching box.
directly by personal computer or teaching box. directly by personal computer or teaching box.
:Shows the brief Function of command. :Shows the brief Function of command. :Shows the brief Function of command. :Shows the brief Function of command.
:Shows the argument of the command entry. :Shows the argument of the command entry. :Shows the argument of the command entry. :Shows the argument of the command entry.
< > indicates the command parameter.[ ] indicates the parameter that can be < > indicates the command parameter.[ ] indicates the parameter that can be < > indicates the command parameter.[ ] indicates the parameter that can be < > indicates the command parameter.[ ] indicates the parameter that can be
omitted. omitted.
omitted. omitted.
:Shows the meaning and limited range of command argument. :Shows the meaning and limited range of command argument.
:Shows the meaning and limited range of command argument. :Shows the meaning and limited range of command argument.
:Explains detailed Function and precautions. :Explains detailed Function and precautions. :Explains detailed Function and precautions. :Explains detailed Function and precautions.
:Shows the parameters that have relationship with the command. :Shows the parameters that have relationship with the command. :Shows the parameters that have relationship with the command.
:Gives a typical program using MOVEMASTER command and BASIC language. :Gives a typical program using MOVEMASTER command and BASIC language.
:Gives a typical program using MOVEMASTER command and BASIC language. :Gives a typical program using MOVEMASTER command and BASIC language.
10 SC 21 ,10 10 SC 21 ,10 10 SC 21 ,10 :Sets value 10 in counter 21. :Sets value 10 in counter 21. :Sets value 10 in counter 21. :Sets value 10 in counter 21.
20 MO ＠ 21 20 MO ＠ 21 20 MO ＠ 21 20 MO ＠ 21 :Moves to position 10, the value of counter 21. :Moves to position 10, the value of counter 21. :Moves to position 10, the value of counter 21. :Moves to position 10, the value of counter 21.