Comandos para la programacion de MELFA BASIC IV 1) Posicion y control de movimiento 2) Control del programa 3) Pinza 4) Entradas/Salidas 5) Ejecucion paralela

6) Funcines Miscelaneas 7) Bandas Transportadoras 1) Joint Interpolation Linear interpolation circular interpolation speed designation Movement Pallet 2) Branching | |--Condition |--REPEAT CONDITIONS | |--END CONDITIONS MOV P1 MVS P1 MVC P1,P2,P3 SPD 100 ACCEL 50,80 SERVO OFF DEF PLT 1 P1,P2,P3,P4,5,3,1 PLT 1,M1 GOTO 120 IF M_IN(1)=1 THEN ELSE GOTO 20 FOR M1=1 TO 10 NEXT WHILE M1<10 WEND

SHIFT PROGRAM PROCESS TO NEXT SKIPE LINE SUBROUTINE GOSUB 200 RETURNS TO SUBROUTINE RETURN EXECUTES DESIGNATED PROGRAM CALLP"P10",M1,P1 WAIT DLY WAITS UNTIL VARIANLE REACHES WAIT M_IN(1)=1 DESIGNATED VALUE STOPS PROGRAM EXECUTION 3) OPEN CLOSE HLT HOPEN 1 HCLOSE 1