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(1) Input signals ................................................................................................................. 4-111
(2) Output signals .............................................................................................................. 4-111
4.1.5 Communication ............................................................................................................... 4-112
4.1.6 Expressions and operations ........................................................................................... 4-113
(1) List of operator ............................................................................................................. 4-113
(2) Relative calculation of position data (multiplication) ..................................................... 4-115
(3) Relative calculation of position data (Addition) ............................................................. 4-115
4.1.7 Appended statement ....................................................................................................... 4-116
4.2 Multitask function .................................................................................................................. 4-117
4.2.1 What is multitasking? ...................................................................................................... 4-117
4.2.2 Executing a multitask ...................................................................................................... 4-118
4.2.3 Operation state of each slot ............................................................................................ 4-118
4.2.4 Precautions for creating multitask program .................................................................... 4-120
(1) Relationship between number of tasks and processing time ....................................... 4-120
(2) Specification of the maximum number of programs executed concurrently ................. 4-120
(3) How to pass data between programs via external variables ........................................ 4-120
(4) Confirmation of operating status of programs via robot status variables .................... 4-120
(5) The program that operates the robot is basically executed in slot 1. ........................... 4-120
(6) How to perform the initialization processing via constantly executed programs .......... 4-120
4.2.5 Precautions for using a multitask program ..................................................................... 4-121
(1) Starting the multitask .................................................................................................... 4-121
(2) Display of operation status ........................................................................................... 4-121
4.2.6 Example of using multitask ............................................................................................. 4-122
(1) Robot work details. ....................................................................................................... 4-122
(2) Procedures to multitask execution ............................................................................... 4-123
4.2.7 Program capacity ............................................................................................................ 4-124
(1) Program save area ....................................................................................................... 4-124
(2) Program edit area ......................................................................................................... 4-124
(3) Program execution area ............................................................................................... 4-124
4.3 Detailed specifications of MELFA-BASIC V .......................................................................... 4-126
(1) Program name .............................................................................................................. 4-126
(2) Command statement .................................................................................................... 4-126
(3) Variable ........................................................................................................................ 4-127
4.3.1 Statement ....................................................................................................................... 4-128
4.3.2 Appended statement ....................................................................................................... 4-128
4.3.3 Step ................................................................................................................................ 4-128
4.3.4 Step No. .......................................................................................................................... 4-128
4.3.5 Label ............................................................................................................................... 4-128
4.3.6 Types of characters that can be used in program .......................................................... 4-129
4.3.7 Characters having special meanings .............................................................................. 4-130
(1) Uppercase and lowercase identification ....................................................................... 4-130
(2) Underscore ( _ ) ........................................................................................................... 4-130
(3) Apostrophe ( ' ) ............................................................................................................. 4-130
(4) Asterisk ( * ) .................................................................................................................. 4-130
(5) Comma ( , ) .................................................................................................................. 4-130
(6) Period ( . ) ..................................................................................................................... 4-130
(7) Space ........................................................................................................................... 4-130
4.3.8 Data type ........................................................................................................................ 4-131
4.3.9 Constants ........................................................................................................................ 4-131
4.3.10 Numeric value constants .............................................................................................. 4
-131
(1) Decimal number ........................................................................................................... 4-131
(2) Hexadecimal number ................................................................................................... 4-131
(3) Binary number .............................................................................................................. 4-131
(4) Types of constant ......................................................................................................... 4-131
4.3.11 Character string constants ............................................................................................ 4-131
4.3.12 Position constants ......................................................................................................... 4-132
(1) Coordinate, posture and additional axis data types and meanings .............................. 4-132
(2) Meaning of structure flag data type and meanings ...................................................... 4-132
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