8.15.5 MID ................................................................................................... 8-292 8.15.6 REPLACE ............................................................................................ 8-294 8.15.7 LEN ................................................................................................... 8-296 8.15.8 FIND .................................................................................................. 8-297 Immediate Refresh Instructions ............................................................ 8-299 8.16.1 FROM .................................................................................................
8-299 8.16.2 TO ..................................................................................................... 8-303 8.16.3 ImmediateInput .................................................................................. 8-307 8.16.4 ImmediateOutput ................................................................................ 8-309 8.16.5 Left_Manage ....................................................................................... 8-311 PID-related Instructions ........................................................................ 8-315 8.17.1 PID ....................................................................................................
8-315 8.17.2 GPWM ................................................................................................ 8-326 Address Instruction ............................................................................... 8-328 8.18.1 ADR ................................................................................................... 8-328 Network Diagnosis ................................................................................. 8-330 8.19.1 Motion Diagnosis ................................................................................. 8-330 8.19.1.1 CANmotion_SysDiag (Motion System Diagnosis) ..................................
8-330 8.19.1.2 CANmotion_NodeDiag (Motion Axis Diagnosis) ..................................... 8-332 8.19.2 CANopen Diagnosis .............................................................................. 8-334 8.19.2.1 CANopen_SysDiag (CANopen System Diagnosis) ................................. 8-334 8.19.2.2 CANopen_NodeDiag (CANopen Slave Diagnosis) .................................. 8-336 8.19.2.3 CANopen_State (CANopen Master Diagnosis) ...................................... 8-338 Read and Write Offset Bit Value ............................................................. 8-340 8.20.1 SetBitOffsetValue ................................................................................
8-340 8.20.2 GetBitOffsetValue ................................................................................ 8-342 FCS Instructions .................................................................................... 8-344 8.21.1 CRC ................................................................................................... 8-344 8.21.2 LRC ................................................................................................... 8-346 Chapter 9 Introductions of Axis Parameters Chapter 10 Motion Control Function 9.1 Description of Axis Parameters .................................................................. 9-2 viii