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6 MOTION PROGRAMS FOR POSITIONING CONTROL
Table 6.1 Instruction Symbol/Characters List (Continued)
Symbol/character Function Description
SIN Trigonometric function (sine)
COS Trigonometric function (cosine)
TAN Trigonometric function (tangent)
ASIN Trigonometric function (arcsine)
ACOS Trigonometric function (arccosine)
ATAN Trigonometric function (arctangent)
INT
Numerical conversion (real number to
integer)
FLT
Numerical conversion (integer to real
number)
Used in arithmetic operation commands.
SET Bit device set
RST Bit device reset
Used in control instructions.
CAN Cancel device specification Used in G24.
START Starting angle specification
STRK Amplitude specification
Used in G25.
SKIP Skip device specification Used in G32.
DFLT
32-bit real number data to 64-bit real number
data conversion
SFLT
64-bit real number data to 32-bit real number
data conversion
CHGA Home position return
CHGV Speed change
CHGT Torque limit value change
IF, THEN,
SET/RST/OUT
Bit device operation on condition
CALL Program start
GOSUB Program call 1
GOSUBE Program call 2
CLEAR Control program end
BMOV Block traverse (16 bit unit)
BDMOV Block traverse (32 bit unit)
FMOV Identical data block transfers (16 bit unit)
MULTW Write device data to shared CPU memory
MULTR
Read device data from shared CPU memory
of the other CPU
TO
Write words data to intelligent function
module/special function module
FROM
Read words data from intelligent function
module/special function module
Control instruction
• Multiple operators cannot be used in one block.
• Refer to Section 6.11.4 for the setting range of instruction symbols.