FC6A S
ERIES
MICROS
MART
L
ADDER
P
ROGRAMMING
M
ANUAL
FC9Y-B1726 Preface-10
T
ABLE
OF
C
ONTENTS
DECO (Decode)....................................................................................................................................... 10-16
BCNT (Bit Count)..................................................................................................................................... 10-17
ALT (Alternate Output) ............................................................................................................................ 10-18
CVDT (Convert Data Type)....................................................................................................................... 10-19
DTDV (Data Divide) ................................................................................................................................. 10-21
DTCB (Data Combine) ............................................................................................................................. 10-22
SWAP (Data Swap).................................................................................................................................. 10-23
CHAPTER
11: Week Programmer Instructions
WEEK (Weekly Timer)................................................................................................................................ 11-3
YEAR (Yearly Timer) ................................................................................................................................ 11-16
CHAPTER
12: Display Instructions
MSG (Message) ......................................................................................................................................... 12-1
DISP (Display)......................................................................................................................................... 12-20
DGRD (Digital Read) ................................................................................................................................ 12-22
CHAPTER
13: Program Branching Instructions
LABEL (Label) ........................................................................................................................................... 13-1
LJMP (Label Jump) .................................................................................................................................... 13-1
LCAL (Label Call) ....................................................................................................................................... 13-3
LRET (Label Return) .................................................................................................................................. 13-3
DJNZ (Decrement Jump Non-zero) ............................................................................................................. 13-5
CHAPTER
14: Refresh Instructions
IOREF (I/O Refresh) .................................................................................................................................. 14-1
HSCRF (High-speed Counter Refresh) ......................................................................................................... 14-3
FRQRF (Frequency Measurement Refresh) .................................................................................................. 14-4
COMRF (Communication Refresh) ............................................................................................................... 14-5
CHAPTER
15: Interrupt Control Instructions
DI (Disable Interrupt) ................................................................................................................................ 15-1
EI (Enable Interrupt) ................................................................................................................................. 15-1
CHAPTER
16: Coordinate Conversion Instructions
XYFS (XY Format Set) ................................................................................................................................ 16-1
CVXTY (Convert X to Y) ............................................................................................................................. 16-2
CVYTX (Convert Y to X) ............................................................................................................................. 16-3
CHAPTER
17: Average Instructions
AVRG (Average) ........................................................................................................................................ 17-1
CHAPTER
18: Pulse Output Instructions
PULS (Pulse Output) .................................................................................................................................. 18-1
PWM (Variable Duty Cycle Pulse Output)..................................................................................................... 18-8
RAMP (Trapezoidal Control) ..................................................................................................................... 18-15
RAMPL (Linear Interpolation Control) ........................................................................................................ 18-27
ZRN (Zero Return)................................................................................................................................... 18-36
ARAMP (RAMP with Table) ....................................................................................................................... 18-46
ABS (Set Absolute Position)...................................................................................................................... 18-68
JOG (JOG Operation) ............................................................................................................................... 18-72
Pulse Monitor .......................................................................................................................................... 18-79
Positioning Control .................................................................................................................................. 18-82
CHAPTER
19: PID Control Instruction
PID (PID Control) ...................................................................................................................................... 19-1
PIDA (PID Control) .................................................................................................................................... 19-3
PIDD (PID with Derivative Decay)............................................................................................................. 19-26
PID Monitor ............................................................................................................................................ 19-39
Application Example ................................................................................................................................ 19-45
CHAPTER
20: Dual / Teaching Timer Instructions
DTML (1-s Dual Timer) .............................................................................................................................. 20-1
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