| Instruction name |
Instruction format | Description | |||||
|---|---|---|---|---|---|---|---|
| Mnemonic | First argument |
Second argument |
Third argument |
Fourth argument |
Fifth argument |
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| son statement | son | Execute servo on command in the case of using RUN terminal function. | |||||
| soff statement | soff | Execute servo off command in the case of using RUN terminal function. | |||||
| hp statement (return to home position) |
Hp | N(i) | [ACC(k)] | [DEC(m)] | N(i) invokes a return to the home position. The parameters are used to specify the acceleration/deceleration time. | ||
| hpset statement (home position setup) |
Hpset | Marks the current position as the home position (invokes no movement). | |||||
| mov statement (positioning instruction) |
Mov | P(i) | [N(j)] | [ACC(k)] | [DEC(m)] | [;&] | Accomplishes positioning in the P(i) position at a speed of N(j). The parameters are used to specify the acceleration/deceleration time. |
| P(Xn) | [N(j)] | [ACC(k)] | [DEC(m)] | [;&] | Accomplishes positioning in the P(Xn) position having the number specified by X(i) at a speed of N(j). The parameters are used to specify the acceleration/deceleration time (Xn = 7 and P(7) when X(7) = 1). | ||
| P(Xw) | [N(j)] | [ACC(k)] | [DEC(m)] | [;&] | Accomplishes positioning in the P(Xw) position having the number specified by X(w) at a speed of N(j). The parameters are used to specify the acceleration/deceleration time (P(5) when Xw = 5). | ||
| Z | [N(j)] | [ACC(k)] | [;&] | Invokes rotation at a speed of N(j) from the current position and accomplishes positioning to arrive at the first phase Z. The parameters are used to specify the acceleration/deceleration time. | |||
| imov statement (constant rate of feeding) |
imov | P(i) | [N(j)] | [ACC(k)] | [DEC(m)] | [;&] | Accomplishes positioning in the relative P(i) position + actual position at a speed of N(j). The parameters are used to specify the acceleration / deceleration time. |
| nchg statement (speed change) |
Nchg | P(i) | [N(j)] | [ACC(k)] | [DEC(m)] | Specifies a speed change in the mov/speed execution sequence subsequent to this instruction. The acceleration/deceleration time parameters are used to change the speed command to N(j) from the P(i) position. | |
| ort statement (homing) |
Ort | 0 1 |
[N(j)] | [ACC(m)] | [DEC(n)] | Invokes low-speed homing. | |
| 2 to 5 | [N(j)] | [N(j)] | [ACC(m)] | [DEC(n)] | Invokes high-speed homing 1/2. | ||
| 6 | Invokes homing as desired. | ||||||
| smov statement (speed/position control changeover) |
Smov | P(i) | Invokes rotation at N(i) and accomplishes positioning to arrive at P(i) from the smov execution position. | ||||
| speed statement (speed control instruction) |
Speed | N(j) | [ACC(k)] | [ACC(k)] | Accelerates/decelerates in accordance with the parameter-specified acceleration/deceleration time setting and performs a constant-speed operation at N(i). | ||
| stop statement (motion operation stop) |
Stop | Ends a motion operation under execution. In order to do this, invokes deceleration and stop when moving at a certain speed. Invokes an immediate stop when a syncoperation is on-going. End this command after the INP signal is on. |
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| Stop | [i] | Same as above except to end the command without waiting the INP signal. | |||||
| Sync | 1 | 1: starts sync control (no speed bias); 2: starts sync control (speed bias provided); s: speed-controlled operation upon receipt of analog input 1. The stop instruction is used to clear the sync statement. |
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| 2 | |||||||
| s | |||||||
| tchg statement (torque command change) |
Tchg | P(i) | T(k) | Effects a torque control change or torque command change from the P(i) position. | |||
| trq statement (torque control) |
Trq | T(j) | Uses T(j) as a torque command to exercise torque control. | ||||
| cam statement | cam | s | The start command of the cam control. | ||||
| r | The end command of the cam control. | ||||||
| cdata statement | cdata | <cam name> | Start of electric cam data statement. Define the cam name. |
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| val1 | val2 | val3 | val4 | val5*1 | Set of electric cam data. | ||
| end cdata | End of electric cam data statement. | ||||||
| restore statement | restore | <cam name> | Assign the name of cam data file to be used. | ||||