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A-8
5.4.23 REMTO instruction .................................................................................................................... 5 - 212
5.4.24 CCPASET instruction ................................................................................................................ 5 - 214
5.4.25 OPEN instruction ....................................................................................................................... 5 - 220
5.4.26 CLOSE instruction ..................................................................................................................... 5 - 224
5.4.27 BUFRCV instruction................................................................................................................... 5 - 227
5.4.28 BUFRCVS instruction ................................................................................................................ 5 - 231
5.4.29 BUFSND instruction................................................................................................................... 5 - 233
5.4.30 ERRCLR instruction................................................................................................................... 5 - 237
5.4.31 ERRRD instruction..................................................................................................................... 5 - 240
5.4.32 UINI instruction .......................................................................................................................... 5 - 243
5.4.33 MRECV instruction .................................................................................................................... 5 - 247
5.4.34 MSEND instruction .................................................................................................................... 5 - 252
6. PID CONTROL INSTRUCTION 6 - 1 to 6 - 30
6.1 PID Control Instruction (Inexact Differential) 6 - 2
6.1.1 PIDINIT instruction......................................................................................................................... 6 - 2
6.1.2 PIDCONT instruction ..................................................................................................................... 6 - 7
6.1.3 PIDSTOP instruction and PIDRUN instruction ............................................................................ 6 - 11
6.1.4 PIDPRMW instruction .................................................................................................................. 6 - 12
6.2 PID Control Instruction (Exact Differential) 6 - 16
6.2.1 PIDINIT instruction....................................................................................................................... 6 - 16
6.2.2 PIDCONT instruction ................................................................................................................... 6 - 21
6.2.3 PIDSTOP instruction and PIDRUN instruction ............................................................................ 6 - 26
6.2.4 PIDPRMW instruction .................................................................................................................. 6 - 27
7. SOCKET COMMUNICATION FUNCTION INSTRUCTION 7 - 1 to 7 - 26
7.1 SOCOPEN Instruction 7 - 2
7.2 SOCCLOSE Instruction 7 - 5
7.3 SOCRCV Instruction 7 - 8
7.4 SOCRCVS Instruction 7 - 11
7.5 SOCSND Instruction 7 - 13
7.6 SOCCINF Instruction 7 - 16
7.7 SOCCSET Instruction 7 - 19
7.8 SOCRMODE Instruction 7 - 22
7.9 SOCRDATA Instruction 7 - 24
8. BUILT-IN I/O FUNCTION INSTRUCTION 8 - 1 to 8 - 30
8.1 Positioning Function Dedicated Instruction 8 - 2
8.1.1 IPPSTRT instruction ...................................................................................................................... 8 - 2
8.1.2 IPDSTRT instruction ...................................................................................................................... 8 - 3
8.1.3 IPSIMUL instruction ....................................................................................................................... 8 - 6
8.1.4 IPOPR instruction .......................................................................................................................... 8 - 7
8.1.5 IPJOG instruction........................................................................................................................... 8 - 9
8.1.6 IPABRST instruction .................................................................................................................... 8 - 11
8.1.7 IPSTOP instruction ...................................................................................................................... 8 - 13
8.1.8 IPSPCHG instruction ................................................................................................................... 8 - 14
8.1.9 IPTPCHG instruction ................................................................................................................... 8 - 16