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6.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) ...............................6-141
6.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)................................................6-142
6.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>) ................................................................... 6-143
6.16.11 Move block wait functions (WAITON, WAITOFF).....................................................................6-145
6.16.12 Block wait functions (EXEON, EXEOFF) ..................................................................................6-147
6.16.13 Bit set and reset for word devices (BSET, BRST).....................................................................6-150
6.16.14 Parameter block change (PB) ...................................................................................................6-151
6.16.15 Torque limit value change (TL).................................................................................................. 6-153
6.16.16 Home position return (CHGA) ....................................................................................................6-155
6.16.17 Speed change (CHGV)...............................................................................................................6-156
6.16.18 Torque limit value change (CHGT).............................................................................................6-157
6.16.19 Bit device set, reset functions (SET, RST) ...............................................................................6-158
6.16.20 Bit device operation on condition (IF, THEN, SET/RST/OUT) .................................................6-159
6.16.21 Program start (CALL)..................................................................................................................6-161
6.16.22 Program call 1 (GOSUB)............................................................................................................6-163
6.16.23 Program call 2 (GOSUBE) .........................................................................................................6-164
6.16.24 Control program end (CLEAR)...................................................................................................6-167
6.16.25 Time to wait (TIME).....................................................................................................................6-169
6.16.26 Block transfers (BMOV : 16-bit unit) ..........................................................................................6-170
6.16.27 Block transfer (BDMOV : 32-bit unit).........................................................................................6-172
6.16.28 Identical data block transfers (FMOV)........................................................................................6-174
6.16.29 Write device data to shared CPU memory (MULTW) ............................................................... 6-176
6.16.30 Read device data from shared CPU memory of the other CPU (MULTR)...............................6-178
6.16.31 Write words data to intelligent function module/special function module (TO)......................... 6-180
6.16.32 Read words data from intelligent function module/special function module (FROM) ..............6-182
6.16.33 Conditional branch using bit device (ON, OFF) .......................................................................6-184
7. AUXILIARY AND APPLIED FUNCTIONS 7- 1 to 7-80
7.1 Backlash Compensation Function........................................................................................................... 7- 1
7.2 Torque Limit Function .............................................................................................................................. 7- 3
7.3 Home Position Return.............................................................................................................................. 7- 5
7.3.1 Home position return data................................................................................................................. 7- 6
7.3.2 Home position return by the proximity dog type 1............................................................................ 7-16
7.3.3 Home position return by the proximity dog type 2............................................................................ 7-19
7.3.4 Home position return by the count type 1......................................................................................... 7-21
7.3.5 Home position return by the count type 2......................................................................................... 7-23
7.3.6 Home position return by the count type 3......................................................................................... 7-25
7.3.7 Home position return by the data set type 1 .................................................................................... 7-27
7.3.8 Home position return by the data set type 2 .................................................................................... 7-28
7.3.9 Home position return by the dog cradle type ................................................................................... 7-29
7.3.10 Home position return by the stopper type 1 ...................................................................................7-33
7.3.11 Home position return by the stopper type 2 ...................................................................................7-35
7.3.12 Home position return by the limit switch combined type................................................................ 7-37
7.3.13 Home position return retry function ................................................................................................7-39
7.3.14 Home position shift function............................................................................................................ 7-43
7.3.15 Condition selection of home position set........................................................................................ 7-47
7.3.16 Execution of home position return................................................................................................. 7-48
7.4 Speed Change (CHGV instruction) .........................................................................................................7-49