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Command Descriptions
Name
Format
Transfer data
OP code
MOV
0
4
a
b
Block transfer
OP code
BMOV
0
4
a
b
c
Teaching
OP code
TEACH
0
5
a
Data teaching
OP code
DTEACH
0
5
a
b
d
e
Change current
OP code
position
0
5
CCHG
0
0
7
x10
x10
3
x10
x10
Home shift
OP code
HSFT
0
5
0
0
88
Function
Transfers data
within internal
6
2
RAM.
0
0
Transfers multi-
ple data words
6
3
within internal
RAM.
0
0
0
Stores current
position for
0
1
designated axis
as the position
A
for a position-
ing action.
Stores current
position for
0
3
designated axis
along with all
A
non-position
fields as a posi-
c
tioning action.
f
g
Changes the
contents of the
1
3
current position
to the desig-
a
A
nated value for
6
5
4
x10
x10
the designated
axis.
2
1
0
x10
x10
When the digit
in the desig-
2
1
nated data
word field is 1,
a
b
home shift is
enabled for po-
sitioning that
follows.
Description
a.....Source address
b.....Destination address
a.....Source start address
b.....Source end address
c.....Number of addresses to be
moved.
a.....Positioning action address
A.....Axis designation
1: X axis
2: Y axis
3: Interpolation
When using interpolation, designate
the address for the X axis in a; the
current position will also be set for
the corresponding Y axis.
a.....Positioning action address
A....Axis designation
1: X axis
2: Y axis
3: Interpolation
b.....Speed address: 00 to 99
c.....M code: 00 to 99
d.....Dwell time address: 0 to 9
e.....Acceleration/deceleration pat-
tern: 0 to 9
f.....Attributes: 0 to F
g.....Positioning pattern: 0 to 7
a.....Direction digit
0: +
1: –
A....Axis designation
1: X axis
2: Y axis
a.....X axis home shift
0: Disabled
1: Enabled
2 to 9: Maintains present condi-
tion
b.....X axis home shift
Same as a.
Section 6-2
Examples
0
4
6
2
1
0
0
0
1
0
1
0
Transferring contents of
X-axis positioning action
address 100 to address
101.
0
4
6
3
1
0
0
0
2
0
0
0
0
1
0
0
Transferring 10 position-
ing actions from ad-
dress 100 (and up) to
address 200 (and up).
0
5
0
1
5
0
0
2
Storing the current po-
sition in Y-axis address
500.
0
5
0
3
1
0
0
3
0
1
2
3
2
0
4
0
Storing the current posi-
tion, with the designated
attributes, in X-axis ad-
dress 100 and Y-axis
address 500.
0
5
1
3
0
0
0
1
0
0
0
5
0
0
0
0
Changing the contents of
the current position on
the X-axis to +50,000.
0
5
2
1
0
0
1
1
Enabling home shift for
both axes.
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