− IV −
6.9 M Code............................................................................................................................................ 6-92
6.10 Special M Code............................................................................................................................. 6-92
6.10.1 M00 Program stop.................................................................................................................. 6-93
6.10.2 M01 Optional program stop.................................................................................................... 6-95
6.10.3 M02 Program end................................................................................................................... 6-97
6.10.4 M30 Program end................................................................................................................... 6-99
6.10.5 M98, M99 Subprogram call, subprogram end...................................................................... 6-101
6.10.6 M100 Preread inhibit ............................................................................................................. 6-103
6.11 Miscellaneous.............................................................................................................................. 6-105
6.11.1 Program control function (IF, GOTO statement).................................................................. 6-106
6.11.2 Program control function (IF, THEN, ELSE, END statements) ............................................ 6-108
6.11.3 WHILE DO statement........................................................................................................... 6-110
6.11.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =) ................................ 6-112
6.11.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN)......................................... 6-114
6.11.6 Real number to BIN value conversion (INT)......................................................................... 6-116
6.11.7 BIN value to real number conversion (FLT) ......................................................................... 6-118
6.11.8 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)........................................... 6-120
6.11.9 Logical operators (AND, OR, XOR, NOT, <<, >>)................................................................ 6-122
6.11.10 Move block wait functions (WAITON, WAITOFF).............................................................. 6-124
6.11.11 Parameter block change (PB)............................................................................................ 6-126
6.11.12 Torque limit value change (TL)............................................................................................ 6-128
6.11.13 Bit device set, reset functions (SET, RST)......................................................................... 6-130
6.11.14 Conditional branch using bit device (ON, OFF).................................................................. 6-132
7. AUXILIARY AND APPLIED FUNCTIONS................................................................................ 7- 1 to 7-52
7.1 Limit Switch Output Function ........................................................................................................... 7- 2
7.1.1 Limit switch output data............................................................................................................. 7- 2
7.1.2 Limit switch output function ....................................................................................................... 7- 2
7.2 Backlash Compensation Function.................................................................................................... 7- 4
7.3 Torque Limit Function ...................................................................................................................... 7- 6
7.3.1 Torque limit value changing function......................................................................................... 7- 6
7.4 Electronic Gear Function.................................................................................................................. 7- 8
7.5 Absolute Positioning System........................................................................................................... 7-10
7.6 Home Position Return..................................................................................................................... 7-13
7.6.1 Near-zero point dog type home position return ........................................................................ 7-13
7.6.2 Count type home position return .............................................................................................. 7-15
7.6.3 Data setting type home position return..................................................................................... 7-16
7.6.4 Execution of home position return............................................................................................ 7-17
7.7 Speed Change ................................................................................................................................ 7-19
7.8 JOG Operation................................................................................................................................ 7-23
7.8.1 Individual start .......................................................................................................................... 7-23
7.8.2 Simultaneous start.................................................................................................................... 7-27
7.9 Manual Pulse Generator Operation ................................................................................................ 7-31
7.10 Override Ratio Setting Function.................................................................................................... 7-40
7.11 FIN Signal Waiting Function.......................................................................................................... 7-43
7.12 Single Block................................................................................................................................... 7-47
7.13 Enhanced Present Value Control.................................................................................................. 7-51
7.14 High-Speed Reading of Designated Data..................................................................................... 7-52