101
Part 2 Programs
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1 Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 Operand 2
Command Page Condition Operand 1 Operand 2 Output Function
E
EDSR 135
Prohibited
Prohibited Prohibited CP End subroutine
ELSE 197
Prohibited
Prohibited Prohibited CP
Declare execution destination when IF
command condition is not satisfied
EOR 116 Optional
Exclusive-OR operand
variable
Operand ZR Logical exclusive-OR
EXIT 136 Optional Prohibited Prohibited CP End program
EXPG 137 Optional
Execution program
number
(Execution program
number)
CC Start program
EXSR 134 Optional
Execution subroutine
number
Prohibited CP Execute subroutine
F
FMIO 130 Optional Format type Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 154 Optional Variable number Position number CP Get acceleration data
GDCL 155 Optional Variable number Position number CP Get deceleration data
GOTO 133 Optional
Jump-destination tag
number
Prohibited CP Jump
GRP 164 Optional Valid axis pattern Prohibited CP Set group axes
GTTM 120 Optional
Time assignment variable
Prohibited CP Get time
GVEL 153 Optional Variable number Position number CP Get speed data
H
HOLD 165 Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 173 Optional
Home-return axis pattern
Prohibited PE Return to home
I
IF 195 Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 126 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 125 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
IS 196 Optional Column number
Column number, character
literal
CP Compare strings
ITER 199 Optional Prohibited Prohibited CP Repeat DO
J
JW 181 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 198 Optional Prohibited Prohibited CP Pull out from DO
LET 105 Optional Assignment variable Assigned value ZR Assign
M
MOD 110 Optional
Remainder assignment
variable
Divisor ZR Calculate remainder
MOVD 178 Optional Target position (Axis pattern) PE Move via direct value specification
MOVL 175 Optional
Destination position
number
Prohibited PE
Move to specified position via
interpolation
MOVP 174 Optional
Destination position
number
Prohibited PE Move to specified position
MULT 109 Optional Multiplicand variable Multiplier ZR Multiply
MVDI 179 Optional Travel distance (Axis pattern) PE
Move relatively via direct value
specification
MVLI 177 Optional Travel position number Prohibited PE Move to relative position via interpolation
MVPI 176 Optional Travel position number Prohibited PE Move to relative position
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