4MELFA-BASIC V
List of Command 4-163
4.8 List of Command
A list of pages with description of each command is shown below. They are listed in the order of presumed
usage frequency.
(1) Command related to movement control
Command Explanation
Page
Mov (Move) Joint interpolation 250
Mvs (Move S) Linear interpolation 260
Mvr (Move R) Circular interpolation 254
Mvr2 (Move R 2) Circular interpolation 2 256
Mvr3 (Move R 3) Circular interpolation 3 258
Mvc (Move C) Circular interpolation 253
Mva (Move Arch) Arch motion interpolation 251
MvSpl (Move Spline) Spline interpolation 263
Mxt (Move External) Optimum acceleration/deceleration rate specification 268
Mv Tune (Move Tune) Specification of the moving characteristics mode 266
Ovrd (Override) Overall speed specification 275
Spd (Speed) Speed specification during linear or circular interpolation move-
ment
292
JOvrd (J Override) Speed specification during joint interpolation movement 246
Cnt (Continuous) Continuous path mode specification 190
Accel (Accelerate) Acceleration/deceleration rate specification 169
ColChk (Col Check) Collision detection function 193
CavChk On (CavChk On) Interference avoidance function 179
Cmp Jnt (Compliance Joint) Specification of compliance in the JOINT coordinate system 182
Cmp Pos (Compliance Posture) Specification of compliance in the XYZ coordinate system 184
Cmp Tool (Compliance Tool) Specification of compliance in the Tool coordinate system 186
Cmp Off (Compliance OFF) Compliance setting invalid 188
CmpG (Compliance Gain) Compliance gain specification 189
Oadl (Optimal Acceleration) Sets the optimum acceleration/deceleration 269
Loadset (Load Set) Hand's optional condition specification 249
Prec (Precision) High accuracy mode specification 277
Torq (Torque) Torque specification of each axis 299
JRC (Joint Roll Change) Enables multiple rotation of the tip axis 247
Fine (Fine) Robot's positioning range specification 232
Fine J (Fine Joint) Robot's positioning range specification by joint interpolation 233
Fine P (Fine Pause) Robot's positioning range specification by distance in a straight
line
234
Servo (Servo)
Servo motor power ON/OFF 288
Wth (With) Addition instruction of movement instruction 302
WthIf (With If) Additional conditional instruction of movement instruction 303
EMvs (E Move S) Ex-T control linear interpolation 225
EMvc (E Move C) Ex-T control circular interpolation 217
EMvr (E Move R) Ex-T control circular arc interpolation 219
EMvr2 (E Move R 2) Ex-T control circular arc interpolation 2 221
EMvr3 (E Move R 3) Ex-T control circular arc interpolation 3 223
EMvSpl (E Move Spline) Ex-T spline interpolation 227
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