Software; List Of Commands - Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual

4 Software

4.1 List of commands

The available new functions in MELFA-BASIC V are given in
[Note] About the restricted function
This robot is special specification. Some functions are restricted and cannot be used. The restricted func -
tions are shown below.
･ Compliance control (Cmp Jnt, Cmp Pos, Cmp Tool, Cmp Off, CmpG)
･ High accuracy mode control (Prec)
･ Collision detection function (ColChk, ColLvl)
Table 4-1 ： List of MELFA-BASIC V commands
Type Class
Joint interpolation
Linear interpolation
Circular interpolation Moves along a designated arc (start point → passing point → start point
Speed designation
Operation
Position control
Pallet
Singular point pas -
sage
Moves to the designated position with joint interpolation.
Moves to the designated position with linear interpolation.
(end point)) with 3-dimensional circular interpolation (360 degrees).
Moves along a designated arc (start point → passing point → end point)
with 3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start point
→ reference point → end point) with 3-dimensional circular interpola -
tion.
Moves along a set arc (start point → end point) with 3-dimensional cir -
cular interpolation.
Designates the speed for various interpolation operations with a per -
centage (0.1% unit).
Designate the speed for joint interpolation operation with a percentage
(0.1% unit).
Designates the speed for linear and circular interpolation with a numeri -
cal value (mm/s unit).
Designates the acceleration/deceleration time as a percentage in
respect to the predetermined maximum acceleration/deceleration. (1%
unit)
Automatically adjusts the acceleration/deceleration according to the
parameter setting value.
ets the hand and work conditions for automatic adjustment of the accel -
eration/deceleration.
Performance of movement is upgraded corresponding to the application.
Adds a process unconditionally to the operation.
Adds a process conditionally to the operation.
Designates smooth operation.
Designates the positioning completion conditions with a No. of pulses.
Designates the positioning completion conditions with a joint interpola -
tion.
Designates the positioning completion conditions with a distance in a
straight line
Turns the servo power ON/OFF for all axes.
Limits the operation of each axis so that the designated torque is not
exceeded.
Designates the base conversion data.
Designates the tool conversion data.
Defines the pallet.
Operates the pallet grid point position.
Move to a specified position using linear interpolation passing through a
singular point.
Table 4-1.
Function
4Software
Input format (example)
Mov P1
Mvs P1
Mvc P1,P2,P1
Mvr P1,P2,P3
Mvr2 P1,P9,P3
Mvr3 P1,P9,P3
Ovrd 100
JOvrd 100
Spd 123.5
Accel 50,80
Oadl ON
LoadsetT 1,1
MvTune 4
Wth
Wthif
Cnt 1,100,200
Fine 200
Fine 0.5, J, 2
Fine 1, P
Servo OFF
Torq 4,10
Base P1
Tool P1
Def Plt 1,P1,P2,P3,P4,5,3,1
Plt 1,M1
Mvs P1 TYPE 0,2
List of commands 4-90