Mitsubishi MELFA CR1D User Manual

4MELFA-BASIC V
MELFA-BASIC V functions 4-116
4.1.7 Appended statement
A process can be added to a movement command.
*Appended statement
*Statement example
*Related functions
Appended statement Explanation
Wth Unconditionally adds a process to the movement command.
WthIf Conditionally adds a process to the movement command.
Statement example
Explanation
Mov P1 Wth M_Out(20)=1................................................
Turns output signal bit 20 ON simultaneously with the start of movement to P1.
Mov P1 WITHIF M_In(20)=1, Hlt......................................
Stops if the input signal bit 20 turns ON during movement to P1.
Mov P1 WthIf M_In(19)=1, Skip .......................................
Stops movement to P1 if the input signal bit 19 turns ON during movement to P1, and
then proceeds to the next step.
Function Explanation page
Joint interpolation movement............................................................. Page 88, "(1) Joint interpolation movement"
Linear interpolation movement........................................................... Page 89, "(2) Linear interpolation movement"
Circular interpolation movement ........................................................ Page 90, "(3) Circular interpolation movement"
Stopping............................................................................................. Page 110, "(6) Stopping"

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English