Command Related To Program Control; Definition Commands - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

(2) Command related to program control

Rem (Remarks)
If...Then...Else...EndIf (If Then Else)
Select Case (Select Case)
GoTo (Go To)
GoSub (Return)(Go Subroutine)
Reset Err (Reset Error)
CallP (Call P)
FPrm (FPRM)
Dly (Delay)
Hlt (Halt)
End (End)
On ... GoSub (ON Go Subroutine)
On ... GoTo (On Go To)
For - Next (For-next)
While-WEnd (While End)
Open (Open)
Print (Print)
Input (Input)
Close (Close)
ColChk (Col Check)
On Com GoSub (ON Communication Go Subrou-
tine)
Com On/Com Off/Com Stop (Communication ON/
OFF/Stop)
HOpen / HClose (Hand Open/Hand Close)
Error (error)
Skip (Skip)
Wait (Wait)
Clr (Clear)
SplWrt (Spline Write)
SplFWrt (Spline Frame Write)
GpsChk (Get position check)

(3) Definition commands

Dim (Dim)
Def Plt (Define pallet)
Plt (Pallet)
Def Act (Define act)
Act (Act)
Def Arch (Define arch)
Def Jnt (Define Joint)
Def Pos (Define Position)
Def Inte/Def Long/Def Float/Def Double (Define
Integer/Long/Float/Double)
Def Char (Define Character)
Def IO (Define IO)
4-164 List of Command
Command
Command
Explanation
Comment(')
Conditional branching
Enables multiple branching
Jump
Subroutine jump
Resets an error (use of default is not allowed)
Program call
Program call argument definition
Timer
Suspends a program
End a program
Subroutine jump according to the value
Jump according to the value
Repeat
Conditional repeat
Opens a file or communication line
Outputs data
Inputs data
Closes a file or communication line
Enables or disables the collision detection function
Communication interrupt subroutine jump
Allows/prohibits/stops communication interrupts
Hand's open/close
User error
Skip while moving
Waiting for conditions
Signal clear
Creates the spline file
Rewrites the frame transportation information registered into the
spline file.
Starts/stops monitoring the condition defined in the Def Gps com-
mand or Def Map command
Explanation
Array variable declaration
Pallet declaration
Pallet position calculation
Interrupt definition
Starts or ends interrupt monitoring
Definition of arch shape for arch motion
Joint type position variable definition
XYZ type position variable definition
Integer or real number variable definition
Character variable definition
Signal variable definition
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