Mitsubishi Electric Q172CPU, Руководство по программированию

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1 OVERVIEW
(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, Addition and subtraction operation,
Multiplication and division 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 X, Y, 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…END
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
Number of I/O points
(X/Y)
8192 points
Number of real I/O
points (PX/PY)
256 points
Internal relays (M)
Latch relays (L)
Total (M + L) : 8192 points
Link relays (B) 8192 points
Annunciators (F) 2048 points
Special relays (M) 256 points
Data registers (D) 8192 points
Link registers (W) 8192 points
Special registers (D) 256 points
Motion registers (#) 8192 points
Number of devices
(Device In the Motion
CPU only)
(Included the
positioning dedicated
device)
Coasting timers (FT)
1 point (888µs)