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1 OVERVIEW
(Note-1) : Acceleration-fixed/time-fixed acceleration/deceleration method is switched as follows.
Acceleration-fixed acceleration/deceleration method Time-fixed acceleration/deceleration method
G00 (Without M-code setting.)
G28
G30
G53
in G100
G00 (With M-code setting.)
G01
G02
G03
G12
G13
G32
in G101
All travel instructions in G101
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(Note-2) : The servo amplifiers for SSCNET cannot be used.
(b) Motion program performance specifications
Item Q173HCPU/Q172HCPU
Total of program files 248k bytes
Program capacity
Number of programs Up to 1024 (No. 1 to 1024)
Arithmetic operation
Unary operation, Additive operation, Multiplicative operation,
Remainder operation
Comparison operation Equal to, Not equal to
Operation controls
Logical operation
Logical shift operation, Logical negation, Logical AND,
Logical OR, Exclusive OR
G-codes Positioning command
G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25, G26,
G28, G30, G32, G43, G44, G49, G53, G54, G55, G56, G61, G64,
G90, G91, G92, G98, G99, G100, G101
M-codes Output command to data register M****
Special M-codes Program control command M00, M01, M02, M30, M98, M99, M100
Variable Device variable X, Y, B, F, D, W, #
Trigonometric function SIN, COS, TAN, ASIN, ACOS, ATAN
Functions
Numerical function
ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT,
DFLT, SFLT
Start/end CALL, CLEAR
Home position return CHGA
Speed/torque setting TL, CHGV, CHGT
Motion control WAITON, WAITOFF, EXEON, EXEOFF
Jump/repetition processing
CALL, GOSUB/GOSUBE, IF…GOTO, IF…THEN…ELSE…END,
WHILE…DO
Instructions
Data operation
BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW,
MULTR, TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT, PB
Number of program calls
(GOSUB/GOSUBE)
Up to 8
Number of controls
Number of program calls (M98) Up to 8