Mitsubishi Electric Q173CPU - About Manuals

A - 15
7.8 Bit Device Statuses .................................................................................................................................. 7-46
7.8.1 ON (Normally open contact) : (None)............................................................................................... 7-46
7.8.2 OFF (Normally closed contact) : !..................................................................................................... 7-47
7.9 Bit Device Controls................................................................................................................................... 7-48
7.9.1 Device set : SET................................................................................................................................ 7-48
7.9.2 Device reset : RST ............................................................................................................................ 7-50
7.9.3 Device output : DOUT ....................................................................................................................... 7-52
7.9.4 Device input : DIN ............................................................................................................................. 7-53
7.9.5 Bit device output : OUT.................................................................................................................... 7-54
7.10 Logical Operations ................................................................................................................................. 7-56
7.10.1 Logical acknowledgement : (None) ................................................................................................ 7-56
7.10.2 Logical negation : ! .......................................................................................................................... 7-57
7.10.3 Logical AND : * ................................................................................................................................ 7-58
7.10.4 Logical OR : +.................................................................................................................................. 7-59
7.11 Comparison Operations......................................................................................................................... 7-60
7.11.1 Equal to : == .................................................................................................................................... 7-60
7.11.2 Not equal to : != ............................................................................................................................... 7-61
7.11.3 Less than : <.................................................................................................................................... 7-62
7.11.4 Less than or equal to : <= ............................................................................................................... 7-63
7.11.5 More than : > ................................................................................................................................... 7-64
7.11.6 More than or equal to : >=............................................................................................................... 7-65
7.12 Motion-Dedicated Functions(CHGV, CHGT) ........................................................................................ 7-66
7.12.1 Speed change request : CHGV...................................................................................................... 7-66
7.12.2 Torque limit value change request : CHGT.................................................................................... 7-72
7.13 Other Instructions................................................................................................................................... 7-74
7.13.1 Event task enable : EI ..................................................................................................................... 7-74
7.13.2 Event task disable : DI .................................................................................................................... 7-75
7.13.3 No operation : NOP......................................................................................................................... 7-76
7.13.4 Block transfer : BMOV .................................................................................................................... 7-77
7.13.5 Same data block transfer : FMOV .................................................................................................. 7-80
7.13.6 Write device data to shared CPU memory of the self CPU : MULTW .......................................... 7-82
7.13.7 Read device data from shared CPU memory of the other CPU: MULTR..................................... 7-85
7.13.8 Write device data to intelligent function module/special function module : TO............................. 7-88
7.13.9 Read device data from intelligent function module/special function module : FROM .................. 7-91
7.13.10 Time to wait : TIME ....................................................................................................................... 7-94
7.14 Comment Statement : //......................................................................................................................... 7-96
8. TRANSITION PROGRAMS 8- 1 to 8- 2
8.1 Transition Programs................................................................................................................................. 8- 1
9. MOTION CONTROL PROGRAMS 9- 1 to 9-22
9.1 Servo Instruction List................................................................................................................................ 9- 1
9.2 Servomotor/Virtual Servomotor Shaft Current Value Change................................................................ 9-14
9.3 Synchronous Encoder Shaft Current Value Change Control (SV22 Only)............................................ 9-17
9.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only) .................................. 9-20