Mitsubishi Electric Q172CPU Programming Manual page 17

7.16.3 Program control function (WHILE, DO, END statements)......................................................... 7-134
7.16.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =)..................................... 7-136
7.16.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN).............................................. 7-138
7.16.6 Real number to BIN value conversion (INT)...............................................................................7-139
7.16.7 BIN value to real number conversion (FLT)................................................................................ 7-140
7.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) ............................... 7-141
7.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)................................................ 7-142
7.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>) ................................................................... 7-143
7.16.11 Move block wait functions (WAITON, WAITOFF)..................................................................... 7-145
7.16.12 Block wait functions (EXEON, EXEOFF) .................................................................................. 7-147
7.16.13 Bit set and reset for word devices (BSET, BRST)..................................................................... 7-150
7.16.14 Parameter block change (PB) ................................................................................................... 7-151
7.16.15 Torque limit value change (TL).................................................................................................. 7-153
7.16.16 Home position return (CHGA) .................................................................................................... 7-155
7.16.17 Speed change (CHGV)............................................................................................................... 7-156
7.16.18 Torque limit value change (CHGT)............................................................................................. 7-157
7.16.19 Bit device set, reset functions (SET, RST) ............................................................................... 7-158
7.16.20 Bit device operation on condition (IF, THEN, SET/RST/OUT) ................................................. 7-159
7.16.21 Program start (CALL).................................................................................................................. 7-161
7.16.22 Program call 1 (GOSUB)............................................................................................................ 7-163
7.16.23 Program call 2 (GOSUBE) ......................................................................................................... 7-164
7.16.24 Control program end (CLEAR)................................................................................................... 7-167
7.16.25 Time to wait (TIME)..................................................................................................................... 7-169
7.16.26 Block transfers (BMOV : 16-bit unit) .......................................................................................... 7-170
7.16.27 Block transfer (BDMOV : 32-bit unit)......................................................................................... 7-172
7.16.28 Identical data block transfers (FMOV) ....................................................................................... 7-174
7.16.29 Write device data to shared CPU memory (MULTW) ............................................................... 7-176
7.16.30 Read device data from shared CPU memory of the other CPU (MULTR)............................... 7-178
7.16.31 Write words data to intelligent function module/special function module (TO)......................... 7-180
7.16.32 Read words data from intelligent function module/special function module (FROM) .............. 7-182
7.16.33 Conditional branch using bit device (ON, OFF) ....................................................................... 7-184
8. AUXILIARY AND APPLIED FUNCTIONS
8.1 LIMIT SWITCH OUTPUT FUNCTION .................................................................................................... 8- 1
8.1.1 Operations ......................................................................................................................................... 8- 1
8.1.2 Limit Output Setting Data.................................................................................................................. 8- 4
8.2 Backlash Compensation Function........................................................................................................... 8- 8
8.3 Torque Limit Function .............................................................................................................................. 8-10
8.4 Absolute Position System ........................................................................................................................ 8-12
8.5 Home Position Return.............................................................................................................................. 8-15
8.5.1 Home position return data................................................................................................................. 8-16
8.5.2 Home position return by the proximity dog type 1............................................................................ 8-22
8.5.3 Home position return by the proximity dog type 2............................................................................ 8-25
8.5.4 Home position return by the count type 1 ........................................................................................ 8-27
8.5.5 Home position return by the count type 2 ........................................................................................ 8-29
8.5.6 Home position return by the count type 3 ........................................................................................ 8-31
8.5.7 Home position return by the data set type 1 .................................................................................... 8-33
8.5.8 Home position return by the data set type 2 .................................................................................... 8-34
A - 16
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