5.4.22 UINI instruction .......................................................................................................................... 5 - 218

5.4.23 MRECV instruction .................................................................................................................... 5 - 221

5.4.24 MSEND instruction .................................................................................................................... 5 - 226

5.5 Positioning Instruction

5.5.1 ABRST instruction ..................................................................................................................... 5 - 233

5.5.2 PSTRT instruction...................................................................................................................... 5 - 237

5.5.3 TEACH instruction ..................................................................................................................... 5 - 239

5.5.4 PFWRT instruction..................................................................................................................... 5 - 242

5.5.5 PINIT instruction ........................................................................................................................ 5 - 244

6. PID CONTROL INSTRUCTION

6.1 PID Control Instruction (Inexact Differential)

6.1.1 PIDINIT instruction......................................................................................................................... 6 - 2

6.1.2 PIDCONT instruction ..................................................................................................................... 6 - 7

6.1.3 PIDSTOP instruction and PIDRUN instruction ............................................................................ 6 - 11

6.1.4 PIDPRMW instruction .................................................................................................................. 6 - 12

6.2 PID Control Instruction (Exact Differential)

6.2.1 PIDINIT instruction....................................................................................................................... 6 - 16

6.2.2 PIDCONT instruction ................................................................................................................... 6 - 21

6.2.3 PIDSTOP instruction and PIDRUN instruction ............................................................................ 6 - 26

6.2.4 PIDPRMW instruction .................................................................................................................. 6 - 27

7. SOCKET COMMUNICATION FUNCTION INSTRUCTION

7.1 SOCOPEN Instruction

7.2 SOCCLOSE Instruction

7.3 SOCRCV Instruction

7.4 SOCRCVS Instruction

7.5 SOCSND Instruction

7.6 SOCCINF Instruction

7.7 SOCCSET Instruction

7.8 SOCRMODE Instruction

7.9 SOCRDATA Instruction

8. BUILT-IN I/O FUNCTION INSTRUCTION

8.1 Positioning Function Dedicated Instruction

8.1.1 IPPSTRT instruction ...................................................................................................................... 8 - 2

8.1.2 IPDSTRT instruction ...................................................................................................................... 8 - 3

8.1.3 IPSIMUL instruction ....................................................................................................................... 8 - 6

8.1.4 IPOPR instruction .......................................................................................................................... 8 - 7

8.1.5 IPJOG instruction........................................................................................................................... 8 - 9

8.1.6 IPABRST instruction .................................................................................................................... 8 - 11

8.1.7 IPSTOP instruction ...................................................................................................................... 8 - 13

8.1.8 IPSPCHG instruction ................................................................................................................... 8 - 14

8.1.9 IPTPCHG instruction ................................................................................................................... 8 - 16

8.2 Counter Function Dedicated Instruction

8.2.1 ICCNTRD instruction ................................................................................................................... 8 - 18

8.2.2 ICRNGWR instruction.................................................................................................................. 8 - 19

A-6

5 - 233

6 - 1 to 6 - 30

6 - 2

6 - 16

7 - 1 to 7 - 26

7 - 2