2 - 34
2 SYSTEM CONFIGURATION
(b) Motion program performance specifications
Item Q173CPU(N)/Q172CPU(N)
Total of program files
248k bytes
Program capacity
Number of programs
Up to 1024 (No. 1 to 1024)
Arithmetic operation
Unary operation, Additive operation,
Multiplicative operation, Remainder operation
Comparison operation
Equal to, Not equal to
Operation controls
Logical operation
Logical shift operation, Logical negation, Logical AND,
Logical OR, Exclusive OR
G-codes Positioning
command
G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25,
G26, G28, G30, G32, G43, G44, G49, G53, G54, G55, G56,
G61, G64, G90, G91, G92, G98, G99, G100, G101
M-codes
Output command to data register
M****
Special M-codes
Program control command
M00, M01, M02, M30, M98, M99, M100
Variable
Device variable
PX, PY, B, F, D, W, #
Trigonometric function
SIN, COS, TAN, ASIN, ACOS, ATAN
Functions
Numerical function
ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT,
DFLT, SFLT
Start/end CALL,
CLEAR
Home position return
CHGA
Speed/torque setting
TL, CHGV, CHGT
Motion control
WAITON, WAITOFF, EXEON, EXEOFF
Jump/repetition processing
CALL, GOSUB, GOSUBE, IF…GOTO,
IF…THEN…ELSE…END, WHILE…DO
Instructions
Data operation
BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW,
MULTR, TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT,
PB
Number of program calls
(GOSUB, GOSUBE)
Up to 8
Number of controls
Number of program calls (M98)
Up to 8
