Mitsubishi Electric CR750 Series, Instruction Manual

Page: 143 / 730

4MELFA-BASIC V
MELFA-BASIC V functions 4-123
4.1.7 Appended statement
A process can be added to a movement command.
*Appended statement
*Statement example
*Related functions
Appended statement Explanation
Wth Unconditionally adds a process to the movement command.
WthIf Conditionally adds a process to the movement command.
Statement example
Explanation
Mov P1 Wth M_Out(20)=1................................................
Turns output signal bit 20 ON simultaneously with the start of movement to P1.
Mov P1 WITHIF M_In(20)=1, Hlt...................................... Stops if the input signal bit 20 turns ON during movement to P1.
Mov P1 WthIf M_In(19)=1, Skip .......................................
Stops movement to P1 if the input signal bit 19 turns ON during movement to P1, and
then proceeds to the next step.
Function Explanation page
Joint interpolation movement ............................................................. Page 98, "(1) Joint interpolation movement"
Linear interpolation movement........................................................... Page 99, "(2) Linear interpolation movement"
Circular interpolation movement ........................................................ Page 100, "(3) Circular interpolation movement"
Stopping............................................................................................. Page 117, "(6) Stopping"