Mitsubishi Electric Q173DSCPU - Page 34

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1 OVERVIEW
Table of the operation control/transition instruction (continued)
Classification Symbol Function Format Basic steps
Usable step Y/N
transition's
conditional
expression
Section of
reference
F/FS G
Logical operation
(None) Logical acknowledgment (Conditional expression) 0
5.10.1
! Logical negation !(Conditional expression) 2
5.10.2
* Logical AND
(Conditional expression) *
(conditional expression)
4
5.10.3
+ Logical OR
(Conditional expression) +
(conditional expression)
4
5.10.4
Comparison
operation
== Equal to
(Conditional expression) ==
(conditional expression)
4
5.11.1
!= Not equal to
(Conditional expression) !=
(conditional expression)
4
5.11.2
< Less than
(Conditional expression) <
(conditional expression)
4
5.11.3
<= Less than or equal to
(Conditional expression) <=
(conditional expression)
4
5.11.4
> More than
(Conditional expression) >
(conditional expression)
4
5.11.5
>= More than or equal to
(Conditional expression) >=
(conditional expression)
4
5.11.6
Motion dedicated
function
CHGV Speed change request CHGV((S1),(S2)) 4
— 5.12.1
CHGVS
Command generation axis speed change
request
CHGVS((S1),(S2)) 4
— 5.12.2
CHGT Torque limit value change request CHGT((S1),(S2)) 4
— 5.12.3
CHGT2
Torque limit value individual change
request
CHGT2((S1),(S2),(S3)) 5
— 5.12.4
CHGP Target position change request CHGP((S1),(S2),(S3)) 6 — 5.12.5
Others
EI Event task enable EI 1
— 5.13.1
DI Event task disable DI 1
— 5.13.2
NOP No operation NOP 1
— 5.13.3
BMOV Block transfer BMOV(D),(S),(n) 6
— 5.13.4
FMOV Same data block transfer FMOV(D),(S),(n) 6
— 5.13.5
MULTW
Write device data to CPU shared memory
of the self CPU
MULTW(D),(S),(n),(D1) 8
— 5.13.6
MULTR
Read device data from CPU shared
memory
MULTR(D),(S1),(S2),(n) 7
— 5.13.7
TO
Write device data to intelligent function
module
TO(D1),(D2),(S),(n) 7
— 5.13.8
FROM
Read device data from intelligent function
module
FROM(D),(S1),(S2),(n) 7
— 5.13.9
RTO Write buffer memory data to head module
RTO(D1),(D2),(D3),(S),(n),
(D4)
11
— 5.13.10
RFROM
Read buffer memory data from head
module
RFROM(D),(S1),(S2),(S3),
(n),(D1)
11
— 5.13.11
TIME Time to wait TIME(S) 7 —
— 5.13.12
Vision system
dedicated
function
MVOPEN Open line MVOPEN(S1),(S2) 4
— 5.15.1
MVLOAD Load a program MVLOAD(S1),(S2) 4
— 5.15.2
MVTRG Send an image acquisition trigger MVTRG(S1),(S2) 4
— 5.15.3
MVPST Start a program MVPST(S1),(S2) 4
— 5.15.4
MVIN Input data MVIN(S1),(S2),(D),(S3) 8 or more
— 5.15.5
MVOUT Output data MVOUT(S1),(S2),(S3),(S4) 8 or more
— 5.15.6
MVFIN Reset a status storage device MVFIN(S) 2
— 5.15.7
MVCLOSE Close line MVCLOSE(S) 2
— 5.15.8
MVCOM Send a command for native mode
MVCOM(S1),(S2),(D),(S3),
(S4)
9 or more
— 5.15.9
Data control
SCL 16-bit integer type scaling SLC(S1),(S2),(S3),(D) 8
— 5.16.1
DSCL 32-bit integer type scaling DSCL(S1),(S2),(S3),(D) 8
— 5.16.2
: Usable, —: Unusable