Mitsubishi MELFA CR1D User Manual

4-87 MELFA-BASIC V functions
4MELFA-BASIC V
4 MELFA-BASIC V
In this chapter, the functions and the detailed language specification of the programming language "MELFA-
BASIC Ⅴ " are explained.
4.1 MELFA-BASIC V functions
The outline of the programming language "MELFA-BASIC Ⅴ " is explained in this section. The basic move-
ment of the robot, signal input/output, and conditional branching methods are described.
Table 4-1:List of items described
For the detailed description of each instruction, please refer to Page 152, "4.11 Detailed explanation of com-
mand words".
Item Details Related instructions, etc.
1 4.1.1Robot operation control (1)Joint interpolation movement Mov
2 (2)Linear interpolation movement Mvs
3 (3)Circular interpolation movement Mvr, Mvr2, Mvr3, Mvc
4 (4)Continuous movement Cnt
5 (5)Acceleration/deceleration time and speed control Accel, Oadl
6 (6)Confirming that the target position is reached Fine, Mov and Dly
7 (7)High path accuracy control Prec
8 (8)Hand and tool control HOpen, HClose, Tool
9 4.1.2Pallet operation -------------- Def Plt, Plt
10 4.1.3Program control (1)Unconditional branching, conditional branching,
waiting
GoTo, If Then Else, Wait
, etc
11 (2)Repetition For Next, While WEnd
12 (3)Interrupt Def Act, Act
13 (4)Subroutine
GoSub, CallP, On GoSub
, etc
14 (5)Timer Dly
15 (6)Stopping End(Pause for one cycle), Hlt
16 4.1.4Inputting and outputting
external signals
(1)Input signals
M_In, M_Inb, M_Inw
, etc
17 (2)Output signals
M_Out, M_Outb, M_Outw
, etc
18 4.1.5Communication --------------
Open, Close, Print, Input
, etc
19 4.1.6Expressions and operations (1)List of operator
+, -, *, / , <>, <, >, etc
20 (2)Relative calculation of position data (multiplication) P1 * P2
21 (3)Relative calculation of position data (Addition) P1 + P2
22 4.1.7Appended statement -------------- Wth, WthIf

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English