4Software
List of commands 4-88
4 Software
4.1 List of commands
The robot language to use can choose "MELFA-BASIC Ⅳ " (default setting) or "MOVEMASTER language
(MOVEMASTER commands)" by changing the parameter.
Use of "MELFA-BASIC IV" is recommended to effectively use this controller's functions.
The available new functions in MELFA-BASIC IV are given in
.
Table 4-1 ： The available new functions in MELFA-BASIC IV
(1) The procedure of robot language selection
Table 4-2 ： Robot language parameter
Note 1) "MELFA-BASIC Ⅳ " is default setting.
Note 2) Refer to the separate manual "Explanation of MOVEMASTER COMMANDS"(BFP-A8056) for details of
"MOVEMASTER COMMAND"
Class
Command example
Function
Robot Status Variable
P_TOOL
keep current tool length
M_SPD
keep current speed (linear/circular interpolation)
Built-in functions
ABS
Produces the absolute value
VAL
Converts a character string into a numeric value
ATN
Calculates the arc tangent
STR$
Converts the numeric expression value into a decimal character string
ZONE
Check current position area
Operation function
P1=P1*P2
Relative calculation of position data
M1=M1*M2
Multiplication of numerical variable
P1.X=10
Operation of the position element data
Conditional branching
SELECT CASE
More than one condition branch
ON GOSUB
Condition branch by the value
WHILE WEND
Repeat with condition
Optimum acceleration/
deceleration control
LOADSET
Load condition setting
OADL
valid/invalid setting for the optimum acceleration/deceleration
Float control
(compliance in the XYZ
coordinate system)
CMP POS
Compliance control
CMPG
Force control
Parallel execution
(Multitask)
XRUN, XSTP, XRST,
XLOAD, XCLR
Parallel executions of another task, the stops, the resets the clear, and, the loads
Conveyor trucking
[Special specification]
TRKON, TRKOFF
Valid/invalid of the trucking
TRBASE
Setting the base coordinate for the trucking
Impact detection
COLCHK
Set to enable/disable the impact detection.
COLLVL
Set the detection level of the impact detection.
Singular point passage
MVS P1 TYPE 0,2
Pass a singular point using linear interpolation.
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory
setting
Robot language
RLNG
Integer 1
Select the robot language to use
1 : MELFA-BASIC Ⅳ
0 : MOVEMASTER COMMAND
1