Справочник Пользователя для Mitsubishi Electronics CR750-D

4-131

List of commands

4Software

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m contr

Branching

Branches unconditionally to the designated place.

GoTo 120

Branches according to the designated conditions.

If M1=1 Then GoTo *L100
Else GoTo 20
End If

Repeats until the designated end conditions are satisfied.

For M1=1 TO 10

Next M1

Repeats while the designated conditions are satisfied.

While M1<10

WEnd

Branches corresponding to the designated expression value.

On M1 GoTo *La1, *Lb2, *Lc3

Executes program block corresponding to the designated expression
value..

Select
Case 1

Break
Case 2

Break
End Select

Moves the program process to the next line.

Skip

Collision detection

Set to enable/disable the collision detection.

ColChk ON/OFF

Set the detection level of the collision detection.

ColLvl 100,80,,,,,,

Subroutine

Executes the designated subroutine. (Within program)

GoSub *L200

Returns from the subroutine.

Return

Executes the designated program.

CallP "P10",M1,P1

Defines the program argument executed with the CALLP command.

FPrm M10,P10

Executes the subroutine corresponding to the designated expression
value.

On M1 GoSub *La1, *Lb2, *Lc3

Interrupt

Defines the interrupt conditions and process.

Def Act 1, M1=1 GoTo *L100

Enables/disables the interrupt.

Act 1=1

Defines the start line of the program to be executed when an interrupt is
generated from the communication line.

On Com(1) GoSub *L100

Enables the interrupt from the communication line.

Com(1) On

Disables the interrupt from the communication line.

Com(1) Off

Stops the interrupt from the communication line.

Com(1) Stop

Wait

Designates the wait time, and the output signal pulse output time. (0.01s
unit)

Dly 0.5

Waits until the variable becomes the designated value.

Wait M_In(1)=1

Stop

Stops the program execution.

Hlt

Generates an error. During program execution, continue, stop or servo
OFF can be designated.

Error 9000

End

Ends the program execution.

End

Hand open

Opens the designated hand.

HOpen 1

Hand close

Closes the designated hand.

HClose 1

Input

tput

Assignment

Defines the input/output variables.

Def IO PORT1=BIT,0

Input

Retrieves the general-purpose input signal.

M1=M_In(1)

Output

Calls out the general-purpose output signal.

M_Out(1) =0

Parallel ex

ecut

Mechanism designa

tion

Acquires the mechanism with the designated mechanism No.

GetM 1

Releases the mechanism with the designated mechanism No.

RelM 1

Selection

Selects the designated program for the designated slot.

XLoad 2,"P102"

Start/stop

Carries out parallel execution of the designated program.

XRun 3,"100",0

Stops parallel execution of the designated program.

XStp 3

Returns the designated program's execution line to the head and enters
the program selection enabled state.

XRst 3

Type

Class

Function

Input format (example)