4-147 List of Instructions
4MELFA-BASIC IV
4.6 List of Instructions
A list of pages with description of each instruction is shown below. They are listed in the order of presumed
usage frequency.
(1) Instructions related to movement control
(2) Instructions related to program control
Command Explanation
Page
Mov (Move) Joint interpolation
214
Mvs (Move S) Linear interpolation
224
Mvr (Move R) Circular interpolation
218
Mvr2 (Move R2) Circular interpolation 2
220
Mvr3 (Move R 3) Circular interpolation 3
222
Mvc (Move C) Circular interpolation
217
Mva (Move Arch) Arch motion interpolation
215
Mv Tune (Move Tune) Specification of the moving characteristics mode 227
Ovrd (Override) Overall speed specification
235
Spd (Speed) Speed specification during linear or circular interpolation move-
ment
249
JOvrd (J Override) Speed specification during joint interpolation movement
210
Cnt (Continuous) Continuous path mode specification
171
Accel (Accelerate) Acceleration/deceleration rate specification
153
Cmp Jnt (Comp Joint) Specification of compliance in the JOINT coordinate system
163
Cmp Pos (Composition Posture) Specification of compliance in the XYZ coordinate system
165
Cmp Tool (Composition Tool) Specification of compliance in the Tool coordinate system
167
Cmp Off (Composition OFF) Compliance setting invalid
169
CmpG (Composition Gain) Compliance gain specification
170
Oadl (Optimal Acceleration) Optimum acceleration/deceleration rate specification
229
Loadset (Load Set) Hand's optional condition specification
213
Prec (Precision) High accuracy mode specification
237
Torq (Torque) Torque specification of each axis
252
JRC (Joint Roll Change) Enables multiple rotation of the tip axis
211
Fine (Fine) Robot's positioning range specification
196
Fine J (Fine Joint) Robot's positioning range specification by joint interpolation 198
Fine P (Fine Pause) Robot's positioning range specification by distance in a straight
line
199
Servo (Servo) Servo motor power ON/OFF
247
Wth (With) Addition instruction of movement instruction
255
WthIf (With If) Additional conditional instruction of movement instruction
256
Command Explanation
Page
Rem (Remarks) Comment(')
241
If...Then...Else...EndIf (If Then Else) Conditional branching
208
Select Case (Select Case) Enables multiple branching
245
GoTo (Go To) Jump
204
GoSub (Return)(Go Subroutine) Subroutine jump
203
Reset Err (Reset Error) Resets an error (use of default is not allowed)
242
CallP (Call P) Program call
158
FPrm (FPRM) Program call argument definition
201
Dly (Delay) Timer
193
Hlt (Halt) Suspends a program
205
End (End) End a program
194
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