Mitsubishi FX2N-10GM Hardware / Programming Manual page 10

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
5.4.3 Multistep operation using continuous paths (FX
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
-20GM).............................................................................. 5-10
2N
-10GM)...................................... 5-13
2N
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