3.9.1 Data Registers ................................................................................. 3-12 3.9.2 Index Registers ................................................................................ 3-12 3.10 Special Data Registers ............................................................................ 3-13 3.11 Pointers ................................................................................................... 3-13 3.12 Specail Auxiliary Relays and Special Data Registers .............................. 3-14 3.12.1 Special Auxiliary Relays ...................................................................
3-14 3.12.2 Special Data Registers ..................................................................... 3-18 3.13 Functions of Special Auxiliary Relays and Special Data Registers ......... 3-28 3.14 Special Data Registers for Motion Axes .................................................. 3-40 Chapter 4 Basic Instructions 4.1 Table of Basic Instructions ........................................................................ 4-2 4.2 Descriptions of the Basic Instructions ....................................................... 4-4 Chapter 5 Applied Instructions 5.1 Table of Applied Instructions .....................................................................
5-3 5.2 Structure of an Applied Instruction ............................................................ 5-9 5.3 Processing Values ................................................................................... 5-12 5.4 Using Index Registers to Modify Operands ............................................. 5-15 5.5 Instruction Index ...................................................................................... 5-15 5.6 Descriptions of the Applied Instructions .................................................. 5-19 5.7 Motion Control Function Block Table .....................................................
5-128 5.8 Introduction of the Pins in a Motion Control Function Block .................. 5-130 5.8.1 Definitions of Input Pins/Output Pins .............................................. 5-130 5.8.2 Timing Diagram for Input/Output Pins ............................................ 5-132 5.8.3 Introducing the Use of PMSoft ....................................................... 5-133 5.9 Delta-defined Parameter Table .............................................................. 5-135 5.10 Uniaxial Motion Control Function Blocks ............................................... 5-138 5.10.1 Absolute Single-speed Motion .......................................................
5-138 5.10.2 Relative Single-speed Motion ........................................................ 5-141 5.10.3 Absolute Two-speed Motion ........................................................... 5-146 5.10.4 Relative Two-speed Motion ............................................................ 5-150 5.10.5 Inserting Single-speed Motion ........................................................ 5-154 5.10.6 Inserting Two-speed Motion ........................................................... 5-158 5.10.7 JOG Motion ....................................................................................
5-162 5.10.8 Manual Pulse Generator Mode ...................................................... 5-165 5.10.9 Returning Home ............................................................................. 5-168 5.10.10 Stopping Uniaxial Motion ............................................................... 5-171 ii