Appendix 2 instructions list
MODBUS
communication
COLR
MODBUS coil read
√
√
√
√
INPR
MODBUS input coil read
√
√
√
√
COLW
MODBUS single coil write
√
√
√
√
MCLW
MODBUS multi coil write
√
√
√
√
REGR
MODBUS register read
√
√
√
√
INRR
MODBUS input register write
√
√
√
√
REGW
MODBUS single register write
√
√
√
√
MRGW
MODBUS multi register write
√
√
√
√
Free format
communication
SEND
Free format data send
√
√
√
√
RCV
Free format data receive
√
√
√
√
CANBUS
communication
CCOLR
CANBUS coil read
√
CCOLW CANBUS coil write
√
CREGR
CANBUS register read
√
CREGW CANBUS register write
√
Precision time
STR
Precision time
√
√
√
√
STRR
Read precision time register
√
√
√
√
STRS
Stop precision time
√
√
√
√
interrupt
EI
Enable interruption
√
√
√
√
DI
Disable interruption
√
√
√
√
IRET
Interruption return
√
√
√
√
BLOCK
BSTOP
Stop the block
√
√
√
√
BGOON Continue running the block
√
√
√
√
WAIT
Wait
√
√
√
√
Read/write
expansion
FROM
Read the module
√
√
√
√
TO
Write the module
√
√
√
√
others
FRQM
Frequency measurement
√
√
√
√
PWM
Pulse width modulation
√
√
√
√
PID
PID control
√
√
√
√
※
1
：
All the instructions are 16bits except the instructions with
※
1 which has 32bits. 32bits instructions are added
D in front of its 16bits instruction. Such as ADD (16bits) / DADD (32bits).
※
2: These instructions are 32bits, and have no 16bits format.
※
3: √ means this series support the instruction.
Appendix 2-4
．
MOTION CONTROL INSTRUCTIONS LIST
Mnemonic FUNCTION
SUITABLE MODELS
XC1 XC2 XC3 XC5 XCM
ZRN
※
1
Origin return
√
DRVA
※
1
Absolute position
√
DRVI
※
1
Relative position
√
ABS
Absolute address
√
CCW
※
2
Circular
anticlockwise
interpolation
√
