Instruction Format - Mitsubishi FX2N-10GM Hardware / Programming Manual

FX Series Positioning Controllers
5.5

Instruction format

(E)Servo end check
cod 00
DRV
DRIVE
Basic
format
(A) Applicable models
The models in which the instruction described can be used are indicated.
The models are classified into "FX
marked with " z ".
(B) Instruction main body
The positioning control instruction consists of the instruction main body and the operands
(shown in the table below). (Some instructions do not include any operand.)
The instruction main body consists of the instruction word (such as DRV, LIN, CW, etc.) and
the code No. (cod No.).
An instruction can be written to or read from a peripheral unit by specifying either the word
or the code No.
(C) Operands
Various types of operands such as the travel, the speed, etc. are available for various types
of instruction. Select the required operands in the specified sequence. The table below
shows the available operands.
Table 5.7: Type of operands
Type of operands
x :X axis coordinates (travel),
incremental/absolute.
y :Y axis coordinates (travel),
incremental/absolute.
i :X axis coordinates (arc center),
incremental.
i :Y axis coordinates (arc center),
incremental.
r :Arc radius.
f :Vector speed or peripheral speed.
k :Timer constant.
m:m code in WITH mode.
(D)Instruction group
High speed positioning
Yes
Servo end check
Instruction group
A
FX -10GM
2N
cod 00
***
X
fx
DRV
X axis X axis
target operation
position speed
'
(B)Instruction
(C)Operands
main body
FX
10GM
Remarks
FX -20GM
2N
cod 00
X
DRV
X axis X axis
target operation
position speed
(B)Instruction
main body
-10GM" and "FX
2N
- FX -
2N 2N
Units
20GM specification
9 9

9

9
Set by
para-

9
meter

9
9 9
9 9
10ms

9 9
(A)Applicable models
Applicable models
Series name Remarks
FX -10GM
2N
FX -20GM
2N
***
y fy
fx
Y axis Y axis
target operation
position speed
' '
(C)Operands
-20GM". The applicable group is
2N
Indirect Omission of
operand
The axis whose operand is
omitted maintains its
present status and does
not move.
If omitted, the incremental
Possible
travel is regarded as "0".
using data
register (D)
This operand cannot be
omitted.
The "f" value of the previ-
ous usage becomes valid.
This operand cannot be
omitted.
This operand can be omit-
Unable
ted (No m code is output.)
Program format 5
5-16