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3 Advanced Programming
3.1 High-Level Control Commands 3 -2..............................
3.1.1 SECOND IN-POSITION CHECK (PFN) 3 -2.................................
3.1.2 SET SECOND IN-POSITION RANGE (INP) 3 -4..............................
3.1.3 IGNORE SINGLE-BLOCK SIGNAL (SNG), SINGLE-BLOCK SIGNAL DISABLED/
ENABLED (SNGD/SNGE) 3 -6.............................................
3.1.4 USER FUNCTION CALL (UFC) 3 -8........................................
3.1.5 I/O VARIABLE WAIT (IOW) 3 -16............................................
3.1.6 SUBROUTINE CALL (MSEE) 3 -17..........................................
3.1.7 SUBROUTINE RETURN (RET) 3 -18........................................
3.1.8 ONE SCAN WAIT (EOX) 3 -19..............................................
3.1.9 Branching Commands: IF...ELSE...IEND 3 -20.................................
3.1.10 Repeat Commands: WHILE...WEND 3 -21...................................
3.1.11 Parallel Execution Commands (PFORK, JOINTO, PJOINT) 3 -23...............
3.1.12 Selective Execution Commands (SFORK, JOINTO, SJOINT) 3 -27..............
3.2 Speed and Acceleration/Deceleration Commands 3 -29.............
3.2.1 ACCELERATION TIME CHANGE (ACC) 3 -29................................
3.2.2 DECELERATION TIME CHANGE (DCC) 3 -31................................
3.2.3 S-CURVE TIME CONSTANT CHANGE (SCC) 3 -32...........................
3.2.4 SET SPEED (VEL) 3 -35...................................................
3.2.5 INTERPOLATION FEED SPEED RATIO SETTING (IFP) 3 -36..................
3.2.6 MAXIMUM INTERPOLATION FEED SPEED (FMX) 3 -38.......................
3.2.7 INTERPOLATION ACCELERATION TIME CHANGE (IAC) 3 -40.................
3.2.8 INTERPOLATION DECELERATION TIME CHANGE (IDC) 3 -42.................
4 Sequence Commands
4.1 Overview of Sequence Commands 4 -3..........................
4.1.1 Math Commands 4 -3.....................................................
4.1.2 Combinations of Math Operations 4 -4.......................................
4.1.3 Combinations of Logic Operations 4 -4......................................
4.2 Arithmetic Operations 4 -6......................................
4.2.1 SUBSTITUTE (=) 4 -6.....................................................
4.2.2 ADD (+) 4 -7.............................................................
4.2.3 SUBTRACT (−)4-8......................................................
4.2.4 MULTIPLY (*) 4 -8........................................................
4.2.5 DIVIDE (/) 4 -9...........................................................
4.2.6 REMAINDER (MOD) 4 -10..................................................
4.3 Logic Operations 4 -11...........................................
4.3.1 OR ( | ) 4 -11..............................................................
4.3.2 AND (&) 4 -12.............................................................
4.3.3 XOR (∧) 4 -13.............................................................
4.3.4 NOT ( ! ) 4 -14............................................................
4.4 Data Comparisons 4 -16..........................................
4.4.1 Data Comparison Commands (= =, < >, >, <, > =, < =) 4 -16....................
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