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5. Type R Interface <br />
<br />
StoreActivating Command<br />
Command Command Name Function<br />
80(50h) Communication<br />
Activation<br />
Activates the pre-stored Point, 4-point positioning, zero-return or<br />
program.<br />
81(51h) STEP Operation Commands the STEP operation of the program.<br />
82(52h) Program Stop Stops the program.<br />
86(56h) Point Store This command stores the Point, 4-point positioning, zero-return (for<br />
HOME), and Jog data.<br />
87(57h) PRG Store This command stores the program data.<br />
88(58h) Teaching Writes the current position to specified Point.<br />
Program Exclusive Commands<br />
Command Command name Function<br />
96(60h) Program END Ends the program.<br />
97(61h) Timer Wait Sets the delay timer.<br />
98(62h) In-Position JMP Jump command based on In-Position status.<br />
99(63h) In-Port JMP Jump command based on input Port status.<br />
100(64h) ZONE JMP Jump command based on ZONE status.<br />
101(65h) Position JMP Jump command based on absolute position condition.<br />
102(66h) Unconditional JMP Unconditional jump command.<br />
103(67h) Motor stop JMP Jump command based on motor stop status.<br />
106(6Ah) FOR Sets the loop counter. Multiple structures are possible.<br />
107(6Bh) NEXT Returns to the loop counter.<br />
108(6Ch) Gosub Calls a subroutine.<br />
109(6Dh) Return Returns from the subroutine.<br />
110(6Eh) Point Calls Point data within PRG.<br />
522
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