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COLR
INPR
COLW
MCLW
MODBUS
communication
REGR
INRR
REGW
MRGW
SEND
Free format
communication
RCV
CCOLR
CCOLW
CANBUS
communication
CREGR
CREGW
STR
Precision time
STRR
STRS
EI
DI
interrupt
IRET
BSTOP
BLOCK
BGOON
WAIT
FROM
Read/write
expansion
TO
FRQM
others
PWM
PID
※1： All the instructions are 16bits except the instructions with ※1 which has 32bits. 32bits instructions are added
D in front of its 16bits instruction. Such as ADD (16bits) / DADD (32bits).
※2: These instructions are 32bits, and have no 16bits format.
※3: √ means this series support the instruction.
Appendix 2-4．
Mnemonic
FUNCTION
※
1
Origin return
ZRN
※
1
Absolute position
DRVA
※
Relative position
1
DRVI
ABS
Absolute address
※
2
Circular
CCW
interpolation
MODBUS coil read
MODBUS input coil read
MODBUS single coil write
MODBUS multi coil write
MODBUS register read
MODBUS input register write
MODBUS single register write
MODBUS multi register write
Free format data send
Free format data receive
CANBUS coil read
CANBUS coil write
CANBUS register read
CANBUS register write
Precision time
Read precision time register
Stop precision time
Enable interruption
Disable interruption
Interruption return
Stop the block
Continue running the block
Wait
Read the module
Write the module
Frequency measurement
Pulse width modulation
PID control
MOTION CONTROL INSTRUCTIONS LIST
SUITABLE MODELS
XC1 XC2 XC3 XC5 XCM
anticlockwise
Appendix 2 instructions list
√
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√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
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