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5.8 External FX I/O Devices - Functions 70 to 79 ................................................. 5-100
5.8.1 TKY (FNC 70)........................................................................................................ 5-101
5.8.2 HKY (FNC 71) ....................................................................................................... 5-102
5.8.3 DSW (FNC 72) ...................................................................................................... 5-104
5.8.4 SEGD (FNC 73) .................................................................................................... 5-106
5.8.5 SEGL (FNC 74) ..................................................................................................... 5-107
5.8.6 ARWS (FNC 75) .................................................................................................... 5-109
5.8.7 ASC (FNC 76) ....................................................................................................... 5-110
5.8.8 PR (FNC 77).......................................................................................................... 5-111
5.8.9 FROM (FNC 78) .................................................................................................... 5-112
5.8.10 TO (FNC 79).......................................................................................................... 5-114
5.9 External FX Serial Devices - Functions 80 to 89 ............................................. 5-117
5.9.1 RS (FNC 80).......................................................................................................... 5-118
5.9.2 RUN (FNC 81) ....................................................................................................... 5-119
5.9.3 ASCI (FNC 82) ...................................................................................................... 5-121
5.9.4 HEX (FNC 83) ....................................................................................................... 5-122
5.9.5 CCD (FNC 84) ....................................................................................................... 5-123
5.9.6 VRRD (FNC 85) .................................................................................................... 5-124
5.9.7 VRSD (FNC 86)..................................................................................................... 5-125
5.9.8 PID (FNC 88)......................................................................................................... 5-126
5.10 Floating Point 1 & 2 - Functions 110 to 129 .................................................... 5-134
5.10.1 ECMP (FNC 110) .................................................................................................. 5-135
5.10.2 EZCP (FNC 111) ................................................................................................... 5-136
5.10.3 EBCD (FNC 118)................................................................................................... 5-137
5.10.4 EBIN (FNC 119) .................................................................................................... 5-138
5.10.5 EADD (FNC 120)................................................................................................... 5-139
5.10.6 EAUB (FNC 121) ................................................................................................... 5-140
5.10.7 EMUL (FNC 122)................................................................................................... 5-141
5.10.8 EDIV (FNC 123) .................................................................................................... 5-142
5.10.9 ESQR (FNC 127) .................................................................................................. 5-143
5.10.10INT (FNC 129) ...................................................................................................... 5-144
5.11 Trigonometry - FNC 130 to FNC 139 .............................................................. 5-146
5.11.1 SIN (FNC 130)....................................................................................................... 5-147
5.11.2 COS (FNC 131) ..................................................................................................... 5-148
5.11.3 TAN (FNC 132) ..................................................................................................... 5-149
5.12 Data Operations 2 - FNC 140 to FNC 149 ...................................................... 5-151
5.12.1 SWAP (FNC 147) .................................................................................................. 5-152
5.13 Positioning Control - FNC 150 to FNC 159 ..................................................... 5-155
5.13.1 Cautions when using Positioning Instructions ....................................................... 5-156
5.13.2 Pulse train settings ................................................................................................ 5-157
5.13.3 Devices related to positioning ............................................................................... 5-158
5.13.4 Servo Wiring Example ........................................................................................... 5-159
5.13.5 Example Program.................................................................................................. 5-160
5.13.6 ABS (FNC 155) ..................................................................................................... 5-164
5.13.7 ZRN (FNC 156) ..................................................................................................... 5-165
5.13.8 PLSV(FNC157) ..................................................................................................... 5-167
5.13.9 DRVI (FNC 158) .................................................................................................... 5-168
5.13.10DRVA(FNC 159) ................................................................................................... 5-170
5.14 Real Time Clock Control - FNC 160 to FNC 169............................................. 5-174
5.14.1 TCMP (FNC 160) .................................................................................................. 5-175
5.14.2 TZCP (FNC 161) ................................................................................................... 5-176
5.14.3 TADD (FNC 162) ................................................................................................... 5-177
5.14.4 TSUB (FNC 163) ................................................................................................... 5-178
5.14.5 TRD (FNC 166) ..................................................................................................... 5-179
5.14.6 TWR (FNC 167) .................................................................................................... 5-180
5.14.7 Hour (FNC 169) ..................................................................................................... 5-181
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