Mitsubishi Electric Q173DSCPU - Page 17

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5.11.5 More than : > ................................................................................................................................... 5-70
5.11.6 More than or equal to : >= ............................................................................................................... 5-71
5.12 Motion-Dedicated Functions .................................................................................................................. 5-72
5.12.1 Speed change request : CHGV ...................................................................................................... 5-72
5.12.2 Command generation axis speed change request : CHGVS
(SV22 advanced synchronous control only) .................................................................................. 5-78
5.12.3 Torque limit value change request : CHGT .................................................................................... 5-84
5.12.4 Torque limit value individual change request : CHGT2 ................................................................. 5-86
5.12.5 Target position change request : CHGP ........................................................................................ 5-89
5.13 Other Instructions ................................................................................................................................... 5-98
5.13.1 Event task enable : EI ..................................................................................................................... 5-98
5.13.2 Event task disable : DI .................................................................................................................... 5-99
5.13.3 No operation : NOP ....................................................................................................................... 5-100
5.13.4 Block transfer : BMOV .................................................................................................................. 5-101
5.13.5 Same data block transfer : FMOV ................................................................................................ 5-104
5.13.6 Write device data to CPU shared memory of the self CPU : MULTW ........................................ 5-106
5.13.7 Read device data from CPU shared memory : MULTR .............................................................. 5-109
5.13.8 Write device data to intelligent function module : TO .................................................................. 5-112
5.13.9 Read device data from intelligent function module : FROM ........................................................ 5-114
5.13.10 Write buffer memory data to head module : RTO ...................................................................... 5-116
5.13.11 Read buffer memory data from head module: RFROM ............................................................ 5-120
5.13.12 Time to wait : TIME ..................................................................................................................... 5-124
5.14 Comment Statement : // ....................................................................................................................... 5-126
5.15 Vision System Dedicated Function ...................................................................................................... 5-127
5.15.1 Open line : MVOPEN .................................................................................................................... 5-127
5.15.2 Load a program : MVLOAD .......................................................................................................... 5-129
5.15.3 Send an image acquisition trigger : MVTRG................................................................................ 5-131
5.15.4 Start a program : MVPST ............................................................................................................. 5-133
5.15.5 Input data : MVIN .......................................................................................................................... 5-135
5.15.6 Output data : MVOUT ................................................................................................................... 5-137
5.15.7 Reset a status storage device : MVFIN ........................................................................................ 5-140
5.15.8 Close line : MVCLOSE ................................................................................................................. 5-141
5.15.9 Send a command for native mode : MVCOM .............................................................................. 5-142
5.16 Data Control ......................................................................................................................................... 5-145
5.16.1 16-bit integer type scaling: SCL
.................................................................................................... 5-145
5.16.2 32-bit integer type scaling: DSCL ................................................................................................. 5-149
5.17 Program Control ................................................................................................................................... 5-152
5.17.1 Conditional branch control: IF - ELSE - IEND .............................................................................. 5-152
5.17.2 Selective branch control: SELECT - CASE - SEND .................................................................... 5-154
5.17.3 Repeat control with specified count: FOR - NEXT ...................................................................... 5-156
5.17.4 Forced termination of repeat control: BREAK .............................................................................. 5-159
5.18 Synchronous Control Dedicated Function (SV22 advanced synchronous control only) ................... 5-160
5.18.1 Cam data read: CAMRD ............................................................................................................... 5-160
5.18.2 Cam data write: CAMWR.............................................................................................................. 5-164
5.18.3 Cam data write (Cam open area): CAMWR2 .............................................................................. 5-168
5.18.4 Cam auto-generation: CAMMK .................................................................................................... 5-171
5.18.5 Cam position calculation: CAMPSCL ........................................................................................... 5-181