Mitsubishi MELFA CR1D User Manual

4MELFA-BASIC IV
List of Instructions 4-148
(3) Definition instructions
(4) Multi-task related
On ... GoSub (ON Go Subroutine) Subroutine jump according to the value 232
On ... GoTo (On Go To) Jump according to the value 233
For - Next (For-next) Repeat 200
While-WEnd (While End) Conditional repeat 254
Open (Open) Opens a file or communication line 234
Print (Print) Outputs data 238
Input (Input) Inputs data 209
Close (Close) Closes a file or communication line 161
ColChk (Col Check) Enables or disables the impact detection function 174
On Com GoSub (ON Communication Go Subrou-
tine)
Communication interrupt subroutine jump 231
Com On/Com Off/Com Stop (Communication ON/
OFF/STOP)
Allows/prohibits/stops communication interrupts 178
HOpen / HClose (Hand Open/Hand Close) Hand's open/close 206
Error (error) User error 195
Skip (Skip) Skip while moving 248
Wait (Wait) Waiting for conditions 253
Clr (Clear) Signal clear 162
Command Explanation
Page
Dim (Dim) Array variable declaration
192
Def Plt (Define pallet) Pallet declaration 189
Plt (Pallet) Pallet position calculation 236
Def Act (Define act) Interrupt definition 179
Act (Act) Starts or ends interrupt monitoring 155
Def Arch (Define arch) Definition of arch shape for arch motion 182
Def Jnt (Define Joint) Joint type position variable definition
188
Def Pos (Define Position) XYZ type position variable definition 191
Def Inte/Def Long/Def Float/Def Double (Define
Integer/Long/Float/Double)
Integer or real number variable definition 185
Def Char (Define Character) Character variable definition 183
Def IO (Define IO) Signal variable definition 186
Def FN (Define function) User function definition 184
Tool(Tool) Hand length setting 251
Base (Base) Robot base position setting 157
Tool(Tool) Tool length setting 251
Command Explanation
Page
XLoad (X Load) Loads a program to another task slot
258
XRun (X Run) Execute the program in another task slot 260
XStp (X Stop) Stop the program in another task slot 261
XRst (X Reset) Resets the program in another task slot being suspended 259
XClr (X Clear) Cancels the loading of the program from the specified task slot 257
GetM (Get Mechanism) Obtains mechanical control right 202
RelM (Release Mechanism) Releases mechanical control right 240
Priority (Priority) Changes the task slot priority 239
Reset Err (Reset Error) Resets an error (use of default is not allowed) 242
Command Explanation
Page

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English