1081084.4.1触点比较1084.4.1.1指令列表1081101124.4.1.40R#1134.4.1.5FLDD#1144.4.1.6 FANDD#1161171184.4.1.9ANDZ#1201214.4.2触点逻辑运算1221224.42.2LD1231244.4.2.40R1251264.5.1四则侧运算1261261264.5.1.3SUB1274.5.1.4MUL1281294.5.1.6EABS1304.5.1.7M0D1314.5.1.8EADD1324.5.1.9ESUB1324.5.1.10EMUL1334.5.1.11EDIV1344.5.1.12NC1354.5.1.13DEC1364.5.2数据逻辑运算1361364.52.2WAND1374.5.2.3W0R1374.5.2.4WXOR13813914014114154.5.3.2BLD1411424.5.3.4BAND1434.5.3.5 BANDI1444.5.3.6B0R4.5.3.7B0R1454.5.3.8B0UT1464.5.3.9BSET1461471484.5.4.1指令列表1484.5.4.2SIN1481504.5.4.4C0S1504.5.4.5ASIN1514.5.4.6AC0S1524.5.4.7ATAN1531534.5.4.9DEG1544.5.4.10SINH1551551564.5.5表格运算1574.5.5.1指令列表1574.5.5.2WSUM1574.5.5.3MEAN1584.5.5.4IMIT1584.5.5.5 BZAND1604.5.5.6Z0NE1611621644.5.6指数运算1654.5.6.1指令列表1654.5.6.2EXP1661664.5.6.4L0GE1674.5.6.5ESQR1681691694.6数据处理指令1704.6.1数据转换170170-6-1714.6.1.3BCD1724.6.1.4BlN1724.6.1.5FLT1734.6.1.6EBCD1744.6.1.7EBIN1754.6.1.8 DABIN1754.6.1.9 BINDA1764.6.1.10WBT1784.6.1.11UNl1794.6.1.12DWT0W1804.6.1.13MCPY1814.6.1.14MSET1824.6.1.15D1S1844.6.1.16BT0W1851861871881894.6.1.21HEX1904.6.1.22DEC01924.6.1.23ENC01934.6.1.24 SCALE_X1941954.6.1.26R0UND1964.6.1.27 TRUNC1974.6.1.28CELL1981984.6.2数据传送与比较1994.6.2.1指令列表1991994.6.2.3EM0V2004.6.2.4BM0V2012012034.62.7CML2044.6.2.8CMP2044.6.2.9ECMP2054.6.2.10ZCP2064.6.2.11EZCP20720874.6.3.1指令列表2084.6.3.2S0RTR2084.6.3.3S0RTC2114.6.3.4SER2134.6.3.5FDEL2144.6.3.6FNS2154.6.3.7P0P2172184.6.4数据移位2194.6.4.1指令列表2192204.6.4.3R0L2204.6.4.4RCR2214.6.4.5RCL2222234.6.4.7SFTL2244.6.4.8WSFR2254.6.4.9WSFL2254.6.4.10SFWR2264.6.4.11SFRD2274.6.4.12SFR2284.6.4.13SFL2294.6.5其他数据处理2304.6.5.1指令列表2304.6.5.2SWAP2314.6.5.3B0N2312324.6.5.5RAND2334.6.5.6XCH2344.6.5.7ABS2354.6.5.8EFM0V2352364.6.5.10CRC2374.6.5.11LRC2394.7矩阵指令2402402404.7.1.2BK+2402422432444.7.1.6MXNR24582472484.7.2矩阵比较2494.72.1指令列表2492492512514.8.2STR2522552562604.8.6 EVAL2634.8.7$ADD2662674.8.9 INSTR2684.8.10 RIGHT2694.8.11LEFT2712722732754.9时钟指令2764.9.1指令列表2764.9.2 TCMP2764.9.3 TZCP2774.9.4 TADD2794.9.5 TSUB2794.9.6HT0S2804.9.7ST0H2814.9.8TRD2834.9.9TWR2834.9.10HOUR2842864.9.12 TZGET2884.10MC轴控(EtherCAT&脉冲输出)2894.10.1基本指令2902904.10.1.2MC轴状态机简介2912922942964.10.1.6 MC ReadAxisError299300-93024.10.1.9 MC_ReadActualTorque3034.10.1.10 MC_ReadActualVelocity3053063094.10.1.13 MC MoveRelative3164.10.1.14 MC_MoveVelocity3214.10.1.15 MC MoveAbsolute3253313363413443473504.10.1.22 MC MoveBuffer3593643674.10.1.25 MC MoveVelocityCSV3704.10.1.26 MC_SyncMoveVelocity3714.10.1.27 MC_SyncTorqueControl3733753803844.10.1.31 MC_MoveVelocityPV3864.10.1.32 MC MoveAbsRelPP3894.10.1.33MC_Jog93974024.10.1.35 MC_TorqueControlPT4064104164.10.2.1指令列表4164.10.2.2 MC Camln4174.10.2.3 MC_CamOut4274294304.10.2.6 MC Gearln4314.10.2.7 MC_GearOut4344.102.8MC_Phasing………4354374.10.2.10 MC GenerateCamTable4384.10.2.11 MC_DigitalCamSwitch443-10-4524.10.3轴组控制指令4574.10.3.1指令列表4574574664.10.3.4 MC MoveEllipse4714784804.11MC轴控(CANopen)4844844.11.2 MC_Power_CO4844864874.11.5 MC ReadActualPosition CO4884884.11.7 MC_Stop_CO4904914.11.9 MC MoveRelative CO4934954974994.11.13 MC_WriteParameter_CO5015025034.12HC轴控（脉冲输入）5044.12.1指令列表5055065135144.12.5 ENC_TouchProbe5194.12.6 ENC_ArrayCompare..5304.12.7 ENC_StepCompare.........................5415454.12.9 ENC_GroupArrayCompare....................5475505515525554.12.14 ENC_SetLineRotationMode5574.12.15 ENC_SetCompareOutputPara559-11-5615645684.12.19 HC_Compare5724.12.20HC_ArrayCompare……5755774.12.22指令错误代码5815864.13.1定时器指令参数5865865874.13.4T0NR5884.13.5T0FR5905925934.14.1指令列表5934.14.2 PTGET5945954.14.4 PTDEC5954.14.5 PTADD5964.14.6 PTSUB5974.14.7 PTSET5986006014.15通信指令6034.15.1指令列表6036046066084.15.5串口自由协议通信指令错误代码6116116144.15.8 Modbus:通信指令错误代码6174.15.9面向连接的套接字TCP通信6176186206224.15.13 TCP Close6236256276284.15.17TCP客户瑞通信实例630-12