4 MELFA-BASIC V ........................................................................................................................... 4-97
(4) Continuous movement ................................................................................................. 4-102
(8) Hand and tool control ................................................................................................... 4-107
4.1.2 Pallet operation ............................................................................................................... 4-108
4.1.3 Program control .............................................................................................................. 4-113
(2) Repetition ..................................................................................................................... 4-114
(3) Interrupt ........................................................................................................................ 4-115
(4) Subroutine .................................................................................................................... 4-116
(5) Timer ............................................................................................................................ 4-117
(6) Stopping ....................................................................................................................... 4-117
(1) Input signals ................................................................................................................. 4-118
(2) Output signals .............................................................................................................. 4-118
4.1.5 Communication ............................................................................................................... 4-119
(1) List of operator ............................................................................................................. 4-120
4.1.7 Appended statement ....................................................................................................... 4-123
4.2.1 About MELFA-BASIC V .................................................................................................. 4-124
4.2.2 The feature of MELFA-BASIC V ..................................................................................... 4-124
4.2.3 Comparison with MELFA-BASIC IV ................................................................................ 4-124
4.3 Multitask function .................................................................................................................. 4-125
4.3.1 What is multitasking? ...................................................................................................... 4-125
4.3.2 Executing a multitask ...................................................................................................... 4-126
(1) Relationship between number of tasks and processing time ....................................... 4-128
(2) Specification of the maximum number of programs executed concurrently ................. 4-128
(3) How to pass data between programs via external variables ........................................ 4-128
(4) Confirmation of operating status of programs via robot status variables ..................... 4-128
(5) The program that operates the robot is basically executed in slot 1. ........................... 4-128
(1) Starting the multitask .................................................................................................... 4-129
(1) Robot work details. ....................................................................................................... 4-130
4.3.7 Program capacity ............................................................................................................ 4-132
(1) Program save area ....................................................................................................... 4-132
(2) Program edit area ......................................................................................................... 4-132
(1) Program name .............................................................................................................. 4-133
(2) Command statement .................................................................................................... 4-133
(3) Variable ........................................................................................................................ 4-134
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