3. Introduction to MELFA-BASIC
3.1 Instruction Reference
Command Explanation Example
MOV
Moves the robot to a teach-point position
MOV P1
MVS
Moves the robot to a teach-point in a straight line
MVS P1
Moves the robot to a position above the teach-point
in a straight line. ( Z-Axis distance in Tool-frame)
MVS P1, -50
OVRD
Override speed limit (0 to 100%)
(never use more than 30 for safety ! make this the
first line of your program)
MVS 20
DLY
Delay in seconds – Robot waits
DLY 0.5
HOPEN
Opens the gripper
HOPEN 1
HCLOSE
Closes the gripper
HCLOSE 1
GOSUB
Calls a subroutine
GOSUB *PICK
RETURN
Returns from the subroutine
RETURN
DEF POS
Defines a position variable
DEF POS PTMP
END
End of program
END
3.2 Example programs:
3.2.1 Placing of an object
The example program Pr1 puts down an object at position P10:
OVRD 20 ‘set speed to 20%
MOV P10, -50 ‘go within 50mm of teach-point P10
OVRD 5 ‘set speed to 5%
MVS P10 ‘go to P10
DLY 0.5 ‘wait 0.5 seconds to make sure the robot stopped
HOPEN 1 ‘open gripper
DLY 0.5 ‘wait 0.5 seconds
OVRD 20 ‘set speed to 20%
MVS P10, -50 ‘move up, to leave position P10
END ‘end of program
Pr1: placing of an object
As shown in the program Pr1 a good program should consider the following:
- use as few teach-points as possible
- Always use an approach point before going to the target point,
to ensure you are not hitting the target from the wrong direction
- use delays to let the robot settle
- set the speed limit appropriately
When using the interpolation move MVS, the robot sometimes cannot create an
interpolation path and returns with an out of range error. Use MOV instead of MVS
when moving between approach points.
RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005
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