AH500 Motion Control Module Manual 5-16 Instruction code Pulse Step Page Type API Function 16-bit 32-bit instruction 16-bit 32-bit number C 131 – DCOS Cosine of a binary floating-point number – 6 5-95 137 – DCOSH Hyperbolic cosine of a binary floating-point number – 6 5-103 00 CJ – Conditional jump 3 – 5-19 256 CJN – Negated conditional jump 3 – 5-123 14 CML DCML Inverting bits 5 6 5-31 10 CMP DCMP Comparing values 7 9 5-28 D 25 DEC DDEC Subtracting one from a binary number 3 3 5-44 41 DECO – Decoder 7 – 5-61 117 – DDEG Converting a radian to a degree – 6 5-82 23 DIV DDIV Binary division 7 9 5-42 175 – DDIVR Floating-point division – 9 5-108 120 – DEADD Binary floating-point addition – 9 5-83 110 – DECMP Comparing binary floating-point numbers – 9 5-78 123 – DEDIV Binary floating-point division – 9 5-86 122 – DEMUL Binary floating-point multiplication – 9 5-85 E 42 ENCO – Encoder 7 – 5-62 127 – DESQR Square root of a binary floating-point number – 6 5-90 121 – DESUB Binary floating-point subtraction – 9 5-84 124 – DEXP Exponent of a binary floating-point number – 6 5-87 111 – DEZCP Binary floating-point zonal comparison – 12 5-79 F 49 – DFLT Converting a binary integer into a binary floating-point value – 6 5-70 16 FMOV DFMOV Transferring a value to several devices 7 8 5-34 78 FROM DFROM Reading data from a control register in a special module 9 12 5-75 I 24 INC DINC Adding one to a binary number 3 3 5-43 129 – DINT Converting a binary floating-point number into a binary integer – 5 5-92 J 257 JMP – – Unconditional jump 3 – 5-124 L 215 LD& DLD& – S1&S2 5 7 5-109 217 LD^ DLD^ – S1^S2 5 7 5-109 216 LD| DLD| – S1|S2 5 7 5-109 226 LD DLD – S1＜S2 5 7 5-112 229 LD DLD – S1≦S2 5 7 5-112 228 LD DLD – S1≠S2 5 7 5-112 224 LD= DLD= – S1＝S2 5 7 5-112 225 LD> DLD> – S1＞S2 5 7 5-112 230 LD>= DLD>= – S1≧S2 5 7 5-112 125 – DLN Natural logarithm of a binary floating-point number – 6 5-88