Control Instruction List - Mitsubishi Electric Q Series Programming Manual

6 MOTION PROGRAMS FOR POSITIONING CONTROL

6.5 Control Instruction List

Type
IF, GOTO
IF, THEN, ELSE, END Program control function
WHILE, DO
Control function
WAITON, WAITOFF
EXEON, EXEOFF
ON, OFF
Binary operation +, -, *, /, MOD, =
SIN, COS, TAN, ASIN,
ACOS, ATAN
INT
FLT
DFLT
Standard function
SFLT
SQRT, ABS, BIN,
BCD, LN, EXP, RSD,
FIX, FLP
AND, OR, XOR, NOT,
Logical operation
<<, >>
Bit operation BSET, BRST
PB
TL
Motion dedicated
CHGA
function
CHGV
CHGT
SET, RST
Bit device
IF, THEN,
operation
SET/RST/OUT
CALL
Program start, GOSUB
end
GOSUBE
CLEAR
TIME
BMOV
Others
BDMOV
FMOV
Control instructions used in the Motion program are shown below.
Control instruction list
Instruction
Program control function
Program control function
Travel block wait function
Block wait function
Conditional branch using bit device
Four fundamental operator, assignment statement
Trigonometric function
Numerical conversion (real number to integer)
Numerical conversion (integer to real number)
32-bit real number data to 64-bit real number data
conversion
64-bit real number data to 32-bit real number data
conversion
Function
Logical operator
Bit set and reset for word devices
Parameter block change
Torque limit value change
Home position return
Speed change
Torque limit value change
Bit device set, reset functions
Bit device operation on condition
Program start
Program call 1
Program call 2
Control program end
Time to wait
Block move (16 bit unit)
Block move (32 bit unit)
Identical data block move (16 bit unit)
Description
6 - 8
Axis
Control
designation
program
program
(Note-1)
(Note-2)
(Note-2)
(Note-2)
(Note-3)
(Note-4)