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1 OVERVIEW
Table of the operation control/transition instruction (continued)
Usable step
Classification Symbol Function Format Basic steps
F/FS G
Y/N
transition's
conditional
expression
Section of
reference
(None) Logical acknowledgment (Conditional expression) 0
7.10.1
! Logical negation !(Conditional expression) 2
7.10.2
* Logical AND
(Conditional expression) *
(conditional expression)
4
7.10.3
Logical operation
+ Logical OR
(Conditional expression) +
(conditional expression)
4
7.10.4
== Equal to
(Conditional expression) ==
(conditional expression)
4
7.11.1
!= Not equal to
(Conditional expression) !=
(conditional expression)
4
7.11.2
< Less than
(Conditional expression) <
(conditional expression)
4
7.11.3
<= Less than or equal to
(Conditional expression) <=
(conditional expression)
4
7.11.4
> More than
(Conditional expression) >
(conditional expression)
4
7.11.5
Comparison
operation
>= More than or equal to
(Conditional expression) >=
(conditional expression)
4
7.11.6
CHGV Speed change request CHGV((S1),(S2)) 4
— 7.12.1
Motion dedicated
function
CHGT Torque limit value change request CHGT((S1),(S2)) 4
— 7.12.2
EI Event task enable EI 1
— 7.13.1
DI Event task disable DI 1
— 7.13.2
NOP No operation NOP 1
— 7.13.3
BMOV Block transfer BMOV(D),(S),(n) 6
— 7.13.4
FMOV Same data block transfer FMOV(D),(S),(n) 6
— 7.13.5
MULTW
Write device data to shared CPU memory
of the self CPU
MULTW(D),(S),(n),(D1) 8
— 7.13.6
MULTR
Read device data from shared CPU
memory of the other CPU
MULTR(D),(S1),(S2),(n) 7
— 7.13.7
TO
Write device data to intelligent function
module/special function module.
TO(D1),(D2),(S),(n) 7
— 7.13.8
FROM
Read device data from intelligent function
module/special function module.
FROM(D),(S1),(S2),(n) 7
— 7.13.9
Others
TIME Time to wait TIME(S) 7 —
— 7.13.10
: Usable —: Unusable
(3) Rough calculation expression of singleprogram for operation
control/transition program
2 + (1 + Total number of basic steps in 1 block
+ Number of 32-bit constants/1 block
1
+ Number of 64-bit constants/1 block
3)
Number of blocks (steps)
(1 step = 2 bytes)