User guide

Page 120
Chapter 4. Programming
Category Function Command Page
Program Control
Commands
Program end EXIT 140
Start task EXPG 140
Abort task ABPG 141
Tag Command Designation
Jump GOTO 142
Designate tag for jump TAG 142
Subroutine Control
Designation Commands
Start designated subroutine BGSR 143
End subroutine EDSR 143
Call (execute) subroutine EXSR 144
Calculation Commands
Assign LET 145
Add ADD 145
Subtract SUB 146
M ultiply M U LT 146
Divide DIV 147
Modulate MOD 147
Clear designated variable range CLR 148
Function Computation
Commands
Sine SIN 149
Cosine COS 149
Tangent TAN 150
Arctangent ATN 150
Square root SQR 151
Logic Commands
Bitwise AND AND 152
Bitwise OR OR 152
Bitwise EXOR EOR 153
Comparison Commands
Equal CPEQ 154
Unequal CPNE 154
Greater than CPGT 155
Equal to or greater than CPGE 155
Equal to or less than CPLE 156
Less than CPLT 156
Point Data Operation
Commands
Assign point data to designated axis PPUT 157
Read point data of designated axis PGET 157
Check for data in designated axis PTST 158
Copy point data PCPY 158
Clear point data PCLR 159
Read designated point data PRED 159
Point data range PSIZ 160
Assign velocity data PVEL 160
Assign acceleration data PACC 161