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5. Program format .....................................................................................5-1
5.1 Positioning program.............................................................................................5-1
5.2 Subtask program .................................................................................................5-3
5.3 Instruction List and Execution Time.....................................................................5-5
5.3.1 Instruction list ............................................................................................................5-5
5.3.2 Instruction execution time and startup time...............................................................5-7
5.4 General Rules for Positioning Control Instructions..............................................5-9
5.4.1 m code instruction format ..........................................................................................5-9
5.4.2 Continuous paths (FX
2N
-20GM)..............................................................................5-10
5.4.3 Multistep operation using continuous paths (FX
2N
-10GM)......................................5-13
5.5 Instruction format...............................................................................................5-16
5.6 Drive Control Instructions ..................................................................................5-19
5.6.1 cod 00 (DRV): High speed positioning ....................................................................5-19
5.6.2 cod 01 (LIN): Linear interpolation positioning..........................................................5-21
5.6.3 cod 02 (CW), cod 03 (CCW): Circular interpolation with center point specification.. 5-23
5.6.4 cod 04 (TIM): Stabilization time............................................................................... 5-26
5.6.5 cod 09 (CHK): Servo end check..............................................................................5-27
5.6.6 cod 28 (DRVZ): Machine zero return ......................................................................5-28
5.6.7 cod 29 (SETR): Electrical zero point setting............................................................5-29
5.6.8 cod 30 (DRVR): Electrical zero return .....................................................................5-29
5.6.9 cod 31 (INT): Interrupt stop (ignoring the remaining distance)................................5-30
5.6.10 cod 71 (SINT): Interrupt jog feed (one-step speed).................................................5-32
5.6.11 cod 72 (DINT): Interrupt jog feed (two-step speed).................................................5-33
5.6.12 cod 73 (MOVC): Travel compensation ....................................................................5-35
5.6.13 cod 74 (CNTC): Center point compensation,
cod 75 (RADC): Radius compensation ...................................................................5-36
5.6.14 cod 76 (CANC): Compensation cancel ...................................................................5-37
5.6.15 cod 90 (ABS): Absolute address, cod 91 (INC): Incremental address ....................5-38
5.6.16 cod 92 (SET): Present value change ......................................................................5-39
5.7 Common Items in Sequence Control Instructions .............................................5-40
5.7.1 Difference in operation by PLC ...............................................................................5-40
5.7.2 Applicable devices...................................................................................................5-41
5.7.3 Bit devices............................................................................................................... 5-42
5.7.4 Data length and instruction execution format ..........................................................5-43
5.7.5 Indexing of devices.................................................................................................. 5-43
5.8 Basic sequence instructions..............................................................................5-44
5.9 Application instruction format ............................................................................5-45
5.10 Description on Sequence Application Instructions ............................................5-47
5.10.1 FNC00 (CJ): Conditional jump ................................................................................5-47
5.10.2 FNC00 (CJN): Conditional jump not........................................................................5-47
5.10.3 FNC02 (CALL): Subroutine call, FNC03 (RET): Subroutine return .........................5-48
5.10.4 FNC04 (JMP): Unconditional jump..........................................................................5-48
5.10.5 FNC05 (BRET): Bus return .....................................................................................5-49
5.10.6 FNC08 (RPT): Start of repeat, FNC09 (RPE): End of repeat..................................5-50
5.10.7 FNC10 (CMP): Comparison ....................................................................................5-52
5.10.8 FNC11 (ZCP): Zone comparison.............................................................................5-52
5.10.9 FNC12 (MOV): Transfer ..........................................................................................5-53
5.10.10FNC13 (MMOV): Magnification transfer .................................................................5-53
5.10.11FNC14 (RMOV): Reduction transfer.......................................................................5-54
5.10.12FNC18 (BCD): BCD conversion .............................................................................5-55
5.10.13FNC19 (BIN): BIN conversion.................................................................................5-55
5.10.14FNC20 (ADD): Addition, FNC21 (SUB): Subtraction.............................................. 5-56
5.10.15FNC22 (MUL): Multiplication...................................................................................5-57
5.10.16FNC23 (DIV): Division ............................................................................................ 5-57
5.10.17FNC24 (INC): Increment, FNC25 (DEC): Decrement.............................................5-58
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