Mitsubishi FX2N-10GM, Hardware / Programming Manual

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FX Series Positioning Controllers Program format 5
5-18
(D) Instruction groups
In this manual, instructions are classified into four groups (A to D).
Group A
When the same instruction (same code No.) is used consecutively the code No. can be
omitted and only the necessary operands are required.
Instruction names : cod00(DRV), cod01(LIN), cod02(CW), cod03(CCW), cod31(INT)
Example : N100 cod00(DRV) x100;
N101 x200; Executed by the cod 00 instruction.
Group B
The code No. cannot be omitted. An instruction in this group is valid only in the line No. in
which the instruction is specified.
Instruction names :cod04(TMR), cod09(CHK), cod28(DRVZ), cod29(SETR),
cod30(DRBR), cod71(SINT), cod72(DINT), cod92(SET)
Group C
An instruction in this group remains valid once executed until the contents are changed by
the same instruction.
Instruction names :cod73(MOVC), cod74(CNTC), cod75(RADC), cod76(CANC)
Example : N200 cod73(MOVC) X10; The X axis travel is compensated by "+10".
The travel is compensated by "+10" in this area.
N300 cod73(MOVC) X20; The X axis travel is compensated by "+20".
Group D
An instruction in this group remains valid once executed until another instruction in this
group is executed.
Instruction names : cod90(ABS), cod91(INC)
Example : N300 cod91(INC); The travel is indicated by the incremental drive method.
Incremental addresses are indicated in this area.
N400 cod92(ABS); The travel is indicated by the absolute drive method.
(E) Servo end check
When an instruction for which the servo end check is executed, the servo end check is
automatically performed after driving is completed. The system makes sure that the devia-
tion pulses inside the servo amplifier are less than the quantity specified (set by servo
amplifier parameters), then proceeds to the next operation.
If the servo end signal is not transmitted from the servo amplifier to the positioning unit
within the time set to PARA. 21 (positioning completion signal error evaluation time), an
external error (Error code: 4002 = servo end error) occurs and the machine stops opera-
tion. When PARA. 21 is set to "0", the servo end check is not performed even if the servo
end check is "Yes" for the instruction executed.
The cod 09 (CHK) instruction described later can be used to perform the servo end check.