82
6-1
Command Format
There are three types of commands used. First, four system commands sup-
port other command processing. Second, the servo control commands oper-
ate the motors. Third, data processing commands handle data stored in the
Position Control Unit.
Each command comprises at least one data word with an OP code and an
operand count. As the following layout shows, the OP code is unique for
each command. The operand count usually designates the number (0-9) of
additional data words assigned to the command. In this section, these ac-
companying data words are depicted below the OP code and operand word.
If the number of additional data words exceeds 8, you enter 9 for the operand
count, and an extra data word that follows provides the entry space for a
larger operand count.
Servo control
commands
b15
b0
Operand count*
OP code
OP code
OP code
Leftmost
digits
Rightmost
digits
Contents
System
commands
00
01
02
03
04
05
0-3
0-8
0-8
0-8
0-6
0-2
X axis
Y axis
Data
processing
commands
Interpo-
lation
*Operand count equals value entered here if between 0 and 8. A “9” indicates that the
following word contains the count, as follows:
Operand count
9
OP code
0
In this case, the count must be between 9 and 125.
Command Format
Section 6-1
