Mitsubishi Electric CR800-D Series, Стандартные технические условия

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4 Software
List of commands 4-91
4 Software
4.1 List of commands
The available new functions in MELFA-BASIC VI are given in Table 4-1 .
Table 4-1: List of MELFA-BASIC VI commands
Type Class Function Input format (example)
Struc-
tured pro-
gramming Function procedure Defines the Function procedure.
Function procedure summarizes a series of processing
enclosed by the Function statement and the FEnd statement. Function M Func(M1, M2)
M3=M1+M2
Func=M3
Exit Function
FEnd
Library
function #Include statement Reads the designated program. #Include "PRG1"
Position
and oper-
ation con-
trol Interpolation
operation Moves to the multiple designated positions with the designated
interpolation operations and options. Move L, P1, P2, P3, Spd=50
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 interpola-
tion 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 cir-
cular interpolation.
Mvr2 P1,P9,P3
Moves along a set arc (start point → end point) with 3-dimen-
sional 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 per-
centage
(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/deceler-
ation. (1% unit) Accel 50,80
Automatically adjusts the acceleration/deceleration according to
the parameter setting value. Oadl ON
Sets the hand and work conditions for automatic adjustment of
the acceleration/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
Performance of movement is upgraded corresponding to the
application. MvTune 4
Designates the positioning completion conditions with a No. of
pulses. Fine 200
Designates the positioning completion conditions with a dis-
tance in a straight line Fine 1, P
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 lowered and softened. (JOINT coordi-
nate system) Cmp Jnt ,&B00000011
The robot arm rigidity is lowered and softened. (TOOL coordi-
nate system) Cmp Tool ,&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