VA Motion Controller Programming Manual
III
10.1.21 LOG (Logarithmic Instruction )............................................................................................ 153
10.1.22 LT (less than instruction ) .......................................................................................................153
10.1.23 MAX (Maximum Instruction )............................................................................................... 154
10.1.24 MIN (minimum instruction ) ................................................................................................. 155
10.1.25 MOD (modulo instruction )...................................................................................................156
10.1.26 MOVE (Assignment Command ).........................................................................................157
10.1.27 MUL (Multiplication Directive ) ............................................................................................158
10.1.28 MUL_T_AI ( multiplication ( time multiplied by integer ) instruction ) ...................159
10.1.29 MUL_T_AN ( multiplication ( time multiplied by integer, real ) instructions )..... 160
10.1.30 MUL_T_R ( multiplication ( time multiplied by real number ) instruction ) .......... 161
10.1.31 NE (not equal to the instruction ).......................................................................................161
10.1.32 NOT ( logical non-instruction ) ........................................................................................... 162
10.1.33 OR (Logic or Instruction )...................................................................................................... 163
10.1.34 ROL (loop left shift instruction ).......................................................................................... 164
10.1.35 ROR (cyclic right shift instruction )..................................................................................... 165
10.1.36 SEL (Selection Command )....................................................................................................166
10.1.37 SHL (left shift instruction )..................................................................................................... 167
10.1.38 SHR (right shift instruction )..................................................................................................168
10.1.39 SIN (sinusoidal command )................................................................................................... 169
10.1.40 SQRT (square root instruction )...........................................................................................170
10.1.41 SUB (Subtraction Instruction ) ..............................................................................................171
10.1.42 SUB_T_T (Time Subtraction Instruction ).......................................................................... 172
10.1.43 TAN (tangential command ).................................................................................................172
10.1. 44 XO R (Logical XOR instruction ) ......................................................................................... 173
1 0.2 FUNCTION BLOCK ....................................................................................................................................175
10.2.1 CTD (Decrement Counter Instruction )............................................................................... 175
10.2.2 CTU (Incremental Counter Instruction )..............................................................................177
10.2.3 CTUD (increasing or decreasing bidirectional counter command ) ......................... 179
10.2.4 F_TRIG (falling edge detection command ) .......................................................................181
10.2.5 R_TRIG (rising edge detection instruction )....................................................................... 181
10.2.6 RS ( RS Trigger Instruction ).................................................................................................... 182
10.2.7 SR ( SR Trigger Instruction ).................................................................................................... 183
10.2.8 TOF (Delayed Off Timer Instruction )...................................................................................184
1 0.2.9 TON (delay-on timer command ) ........................................................................................185
10.2.10 TP (pulse command ) .............................................................................................................. 187
1 0.3 TYPE CONVERSION FU............................................................................................................................188
10.3.1 Conversion of BYTE type BCD data ......................................................................................190
10.3.2 Conversion of WORD type BCD data.................................................................................. 191
10.3.3 Conversion of DWOR D -type BCD data ........................................................................... 192
10.3.4 Conversion of BCD type data ................................................................................................. 193
10.3.5 Conversion of BOOL type data ..............................................................................................193
10.3.6 Conversion of BYTE type data ................................................................................................195
10.3.7 Conversion of WORD Data......................................................................................................196
10.3.8 Conversion of DWOR D -type data ..................................................................................... 197
10.3.9 Conversion of SINT data.......................................................................................................... 199
10.3.10 Conversion of INT data .......................................................................................................... 200
10.3.11 Conversion of DINT type data ............................................................................................. 202
10.3.12 Conversion of USINT type data ...........................................................................................204
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