Instruction Support
Mitsubishi Instruction Support
The following table summarizes the level of support for each Mitsubishi Instruction by the DELMIA Mitsubishi translator and DELMIA simulation. Any instruction which does not appear in this list is uploaded as a V6 Comment instruction and will not be used in simulation.
Mitsubishi MELFA-BASIC Instructions | Level of Support | DELMIA Instruction | Comments |
---|---|---|---|
Motion Instructions | |||
MOV | Support | Robot Motion | Joint move |
MVS | Support | Robot Motion | Linear move |
MVR | Support | Robot Motion | Circular move, arc from P1 to P2, P3 |
Logic Instructions | |||
GOTO Label | Support | Goto Label | |
GOSUB Label | Support | Goto Label | Download as GOTO |
*Label | Support | Label on another instruction | The label is set on the DELMIA instruction which follows it. |
IF | Support | Condition | |
SELECT | Support | Test | |
FOR | Support | For | |
WHILE | Support | While-Do | |
CALLP | Support | Run (procedure) | |
IO and Arithmetic Instructions | |||
M_Out | Support | Assign | Set output |
Variable=Expression | Support | Assign | |
M_Timer | Support | Timer | Timer reset & start |
Wait | Support | Wait | Wait for IO or numeric variable |
DLY | Support | Wait | Wait time |
Other Instructions | |||
Spd | Support | Motion Profile | Sets Linear speed |
Ovrd | Partial Support | Motion Profile | 3rd numeric value is ignored |
JOvrd | Support | Motion Profile | Sets Joint speed |
Cnt | Partial Support | Accuracy Profile | 2nd numeric value is ignored |
Fine | Partial Support | Accuracy Profile | “Fine Distance P” is supported |
‘ (Comment) | Support | Custom | In-line comment is also supported. |
DELMIA Instruction Support
The following table summarizes the level of support for each DELMIA instruction by the DELMIA Mitsubishi translator. Following the table is a detailed description of how each instruction is translated.
DELMIA Instruction | Level of Support | Mitsubishi MELFA-BASIC Instructions | Comments |
---|---|---|---|
Robot Motion | Support | MOV, MVS, MVR | Joint, Linear, and Circular moves |
Goto | Support | GOTO *Label | |
Condition | Support | IF THEN ELSE ENDIF | |
Test | Support | Select | |
For | Support | FOR-NEXT | |
While do | Support | WHILE | |
Run (procedure) | Support | CALLP | |
Assign | Support |
M_Out Variable=Expression |
Set output Assignment |
Wait | Support |
DLY WAIT |
Pure delay Wait for IO or numeric variable |
Pulse | Support | M_Out … Dly … | |
Custom | Support |
- Unsupported Instructions
- Any DELMIA instruction that is not supported on download generates a warning. Any MELFA-BASIC instruction that is not supported on upload generates a warning, and a Custom instruction created so that it is downloaded.
- Custom
- A custom instruction text is downloaded into the program exactly as is. On upload, any unsupported instruction is created as a custom instruction, with the name of the custom instruction being the Mitsubishi instruction's text.
- Goto
-
A DELMIA Goto instruction is translated into an MELFA-BASIC Goto instruction. A label, which is the target of the Goto instruction, is required on another instruction. In MELFA-BASIC, the label, denoted by a *, is its own an instruction.
On upload the label will be set on a DELMIA instruction created for the Mitsubishi instruction following the label instruction.
MELFA-BASIC Labels start with a letter of the alphabet and is up to 16 characters long. The characters that may be used are alphanumeric.
- Condition
- A DELMIA Condition instruction is translated into a Mitsubishi MELFA-BASIC IF-THEN-[ELSE]-[ENDIF] instruction. The expressions in the DELMIA Condition must conform to the Mitsubishi IF logical expressions. Multiple expressions can be joined with AND or OR binary Boolean operators. See Expression Conversion for how expressions are translated.
- Test
- A DELMIA Test instruction is translated to a MELFA-BASIC Select-Case instruction.
- For-Loop
- A DELMIA For-Loop instruction is translated into Mitsubishi MELFA-BASIC For-Next instruction. DELMIA restricts the STEP to be either 1 or -1.
- While-Do
- A DELMIA While-Do instruction is translated to MELFA-BASIC While instruction.
- Run (procedure)
-
A DELMIA Run instruction, where the Run is calling a procedure, is translated into a MELFA-BASIC CALLP instruction.
On upload, the program files being called are searched for in the same folder as the program file selected for upload. If they do not exist, a blank task is created for the Run instruction to be valid.
- Assign
-
A DELMIA assign instruction is translated into a Mitsubishi M_OUT if the destination variable is an output signal, otherwise it is translated into a Mitsubishi assign instruction.
See Expression Conversion for how expressions are translated.
See Variable Conversion for details on how each MELFA-BASIC data types are translated.
- Wait
- A DELMIA Wait instruction is translated as a Mitsubishi WAIT (condition) or DLY (delay) instruction.
- Pulse
- A DELMIA Pulse instruction is translated as a Mitsubishi M_Out instruction with DLY option.
- Robot Motion
- MOV, MVS, and MVR without motion options (such as Type or Close Distance) are supported.