Mitsubishi Electric CR750-Q Instruction Manual page 323

WthIf (With If)
[Function]
A process is conditionally added to the interpolation motion command.
[Format]
WthIf[]<Additional Condition>, <Process>
[Terminology]
<Additional Condition>
<Process>
[Reference Program]
(1) If the input signal 17 turns on, the robot will stop.
1 Mov P1 WthIf M_In(17)=1, Hlt
(2) If the current command speed exceeds 200 mm/s, turn on the output signal 17 for the M1+2 seconds.
2 Mvs P2 WthIf M_RSpd>200, M_Out(17)=1 Dly M1+2
(3) If the rate of arrival exceeds 15% during movement to P3, turn on the output signal 1.
3 Mvs P3 WthIf M_Ratio>15, M_Out(1)=1
[Explanation]
(1) This command can only be used to describe the additional conditions to the movement command.
(2) Monitoring of the condition will start simultaneously with the start of movement.
(3) It is not allowed to write the Dly command at the processing part.
(4) If the robot is stopped using the Hlt or the Skip command, it decelerates and stops in the same way as
for "Stop type 1" or "Stop type 2" of the Def Act command. (Refer to
The Hlt command interrupts the execution of the program. The Skip command executes the next step
and continues the program.
When 0 is set to the parameter WTHFUNC, the robot stops by "stop type 1". When 1 is set to the
parameter WTHFUNC, the robot stops by "stop type 2". The initial setting is "stop type 1" (WTH-
FUNC=0).
Describe the condition for adding the process. (Same as Act condition expres-
sion)
Describe the process to be added when the additional conditions are estab-
lished. (Same as Wth)
The commands that can be described as a process are as follow. (Refer to
syntax diagram.)
1. <Numeric type data B> <Substitution operator> <Numeric type data A>
Example) M_Out(1)=1, P1=P2
2. Hlt statement
3. Skip statement
Page 198, " Def Act (Define
Detailed explanation of command words 4-303
4MELFA-BASIC V
act)")