Concurrent I/O•Parameter - Motoman

1.13 Standard Ladder ProgramInstruction Symbol Function Format RemarksTMRTMR D,S 2 StepsInstructionCNTON-delay time (100ms)Set Value (S)• Decimal (0-65535)• Register (M000-M161)Curr value (D)• Register (M000-M099)Subtract counterSet value (S)• Decimal (0-65535)• Register (M000-M161)Curr value (D)• Register (M000-M099)Transmission of batch contentsof 1 group (8 bits)Relay No. #XXXXCNT D,S2 StepsInstructionGSTRGSTR #XXX0 1 Step#XXX0InstructionGRPGOUT GOUT #XXX0 1 Step#XXX0InstructionPLSCRSet ValueTMRCurr ValueSet ValueCNTCurr ValuePLS#XXXXList of Usable Instructions in Concurrent I/ORising up pulse outputRelay No. #XXXXPLS #XXXX1 StepInstructionExe ConditionPLFPLF#XXXXRising down pulse outputRelay No. #XXXXPLF #XXXX1 StepInstructionExe ConditionADDSUBMULS1S2ADDDDS1+S2Arith Flag: Carry=0/1; Zero=0/1; (Error=0)S1S2SUBDDS1-S2Arith Flag: Carry=0/1; Zero=0/1; (Error=0)S1S2MULDnDn+1,DnS1xS2Arith Flag: (Carry=0); (Zero=0); (Error=0)Add 16 bits unsigned binary ADD S1,S2,Ddata (0-65535)S1, S2: Source• Decimal (0-65535)• Register (M000-M161)D: Destination• Register (M000-M099,M150-M161)Subtract 16 bits unsigned SUB S1,S2,Dbinary data (0-65535)S1, S2: Source• Decimal (0-65535)• Register (M000-M161)D: Destination• Register (M000-M099,M150-M161)Multiply 16 bits unsigned MUL S1,S2,Dbinary data (0-65535)S1, S2: Source• Decimal (0-65535)• Register (M000-M161)Dn, Dn+1: DestinationDn: Low data storing registerDn+1: High data storing register• Register (M000-M099,M150-M161)2 StepsInstructionExe Condition2 StepsInstructionExe Condition2 StepsInstructionExe Condition1-80