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6 MOTION PROGRAMS FOR POSITIONING CONTROL
6.5 Control Instruction List
Control instructions used in the Motion program are shown below.
Control instruction list
Type Instruction
Description
Control
program
Axis
designation
program
IF, GOTO
Program control function
IF, THEN, ELSE, END Program control function
WHILE, DO
Program control function
WAITON, WAITOFF
Travel block wait function
EXEON, EXEOFF
Block wait function
Control function
ON, OFF
Conditional branch using bit device
Binary operation +, -, *, /, MOD, =
Four fundamental operator, assignment statement
SIN, COS, TAN, ASIN,
ACOS, ATAN
Trigonometric function
INT
Numerical conversion (real number to integer)
FLT
Numerical conversion (integer to real number)
DFLT
32-bit real number data to 64-bit real number data
conversion
SFLT
64-bit real number data to 32-bit real number data
conversion
Standard function
SQRT, ABS, BIN,
BCD, LN, EXP, RSD,
FIX, FLP
Function
Logical operation
AND, OR, XOR, NOT,
<<, >>
Logical operator
Bit operation
BSET, BRST
Bit set and reset for word devices
PB Parameter
block
change
(Note-1)
TL
Torque limit value change
CHGA
Home position return
CHGV Speed
change
Motion dedicated
function
CHGT
Torque limit value change
SET, RST
Bit device set, reset functions
Bit device
operation
IF, THEN,
SET/RST/OUT
Bit device operation on condition
CALL Program
start
(Note-2)
GOSUB
Program call 1
(Note-2)
GOSUBE
Program call 2
(Note-2)
Program start,
end
CLEAR
Control program end
(Note-3)
TIME
Time to wait
(Note-4)
BMOV
Block move (16 bit unit)
BDMOV
Block move (32 bit unit)
Others
FMOV
Identical data block move (16 bit unit)