Programming Methods Comparison in Mitsubishi MELFA Robots

In this paper are comparison of programming with functions and libraries versus standard commands in Mitsubishi MELFA industrial robot is explored. In paper are present tests of several different methods for programming (Standard program; GoSub; CallP; Function version 1 (using output and external variable); Function version 2 (using ByRef)). This comparison are done with the purpose of providing method for optimizing the cycle time of the robot job and reducing the cost of software maintenance. The results of the research show that one method is approximately seven times faster than the slowest method. This research paper are suitable for both beginners who will deal with programming and integration of robots as well as advanced ones.