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List of commands
4Software
(2) MELFA-BASIC Ⅳ commands
Table 4-3 ： List of MELFA-BASIC IV commands
Type
Class
Function
Input format (example)
Position and operation contro
l
Joint interpolation
Moves to the designated position with joint interpolation.
MOV P1
Linear interpolation
Moves to the designated position with linear interpolation.
MVS P1
Circular interpolation
Moves along a designated arc (start point → passing point → start point
(end point)) with 3-dimensional circular interpolation (360 degrees).
MVC P1,P2,P1
Moves along a designated arc (start point → passing point → end point) with
3-dimensional circular interpolation.
MVR P1,P2,P3
Moves along the arc on the opposite side of a designated arc (start point →
reference point → end point) with 3-dimensional circular interpolation.
MVR2 P1,P9,P3
Moves along a set arc (start point → end point) with 3-dimensional circular
interpolation.
MVR3 P1,P9,P3
Speed designation
Designates the speed for various interpolation operations with a percentage
(0.1% unit).
OVRD 100
Designate the speed for joint interpolation operation with a percentage
(0.1% unit).
JOVRD 100
Designates the speed for linear and circular interpolation with a numerical
value (mm/s unit).
SPD 123.5
Designates the acceleration/deceleration time as a percentage in respect to
the predetermined maximum acceleration/deceleration. (1% unit)
ACCEL 50,80
Automatically adjusts the acceleration/deceleration according to the param
-
eter setting value.
OADL ON
ets the hand and work conditions for automatic adjustment of the accelera
-
tion/deceleration.
LOADSET 1,1
Operation
Adds a process unconditionally to the operation.
WTH
Adds a process conditionally to the operation.
WTHIF
Designates smooth operation.
CNT 1,100,200
Designates the positioning completion conditions with a No. of pulses.
FINE 200
Turns the servo power ON/OFF for all axes.
SERVO OFF
Limits the operation of each axis so that the designated torque is not
exceeded.
TORQ 4,10
Position control
Designates the base conversion data.
BASE P1
Designates the tool conversion data.
TOOL P1
Float control
The robot arm rigidity is lowered and softened. (XYZ coordinate system)
CMP POS ,&B00000011
The robot arm rigidity is returned to the normal state.
CMP OFF
The robot arm rigidity is designated.
CMPG
1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
Pallet
Defines the pallet.
DEF PLT
1,P1,P2,P3,P4,5,3,1
Operates the pallet grid point position.
PLT 1,M1
Singular point pas
-
sage
Move to a specified position using linear interpolation passing through a sin
-
gular point.
MVS P1 TYPE 0,2
Pr
og
ra
m co
ntr
ol
Branching
Branches unconditionally to the designated place.
GOTO 120
Branches according to the designated conditions.
IF M1=1 THEN GOTO 100
ELSE GOTO 20
END IF
Repeats until the designated end conditions are satisfied.
FOR M1=1 TO 10
NEXT M1
Repeats while the designated conditions are satisfied.
WHILE M1<10
WEND
Branches corresponding to the designated expression value.
ON M1 GOTO 100,200,300
Executes program block corresponding to the designated expression value..
SELECT
CASE 1
BREAK
CASE 2
BREAK
END SELECT
Moves the program process to the next line.
SKIP
Impact detection
Set to enable/disable the impact detection.
COLCHK ON/OFF
Set the detection level of the impact detection.
COLLVL 100,80,,,,,,
