6. SERVO PROGRAMS FOR POSITIONING CONTROL
6 − 7
Table 6.2 Servo Instruction List (Continued)
Positioning Data
Common Settings
Circular
Interpolation
Parameter Block Others
Position-
ing
Control
Instruction
Symbol
Processing Details
Parameter Block No.
Axis
Address/Travel Value
Commanded Speed
Dwell Time
M-Code
Torque Limit Value
Auxiliary Point
Radius
Enter Point
Number of Pitches
Control Unit
Speed Limit Value
Acceleration Time
Deceleration Time
Rapid Stop Deceleration Time
Torque Limit Value
Deceleration Processing on STOP
Input
Allowable Error Range for Circular
Interpolation
S- Curve Ratio
Repeat Condition
Program No.
Commanded Speed (Constant Speed)
Cancel
Start
Skip
FIN Acceleration
Number of Steps
Section for Detailed Explanation
ABS-1
!!
∆∆ ∆ ∆
2 to
7
ABS-2
!!
∆∆ ∆ ∆
3 to
8
ABS-3
!!
∆∆ ∆ ∆
4 to
9
ABS-4
!!
∆∆ ∆ ∆
5 to
ABH
!!
∆∆
!
∆∆
ABH
!!
∆∆
!
∆∆
ABH
!!
∆∆
!
∆∆
ABH
!!
∆∆
!
∆∆
ABH
!!
∆∆
!
∆∆
8 to
13
ABH
!!
∆∆
!
∆∆
ABH
!!
∆∆
!
∆∆
9 to
14
INC-1
!!
∆∆ ∆ ∆
2 to
7
INC-2
!!
∆∆ ∆ ∆
3 to
8
INC-3
!!
∆∆ ∆ ∆
4 to
9
INC-4
!!
∆∆ ∆ ∆
INC
!!
∆∆
!
∆∆
5 to
10
INC
!!
∆∆
!
∆∆
INC
!!
∆∆
!
∆∆
INC
!!
∆∆
!
∆∆
INC
!!
∆∆
!
∆∆
4 to
9
INC
!!
∆∆
!
∆∆
INC
!!
∆∆
!
∆∆
5 to
10
7.
16
!
: Must be set
∆
: Set if required
ABS
!!
∆∆
!
∆∆
10
ABS
!!
∆∆
!
∆∆
ABS
!!
∆∆
!
∆∆
ABS
!!
∆∆
!
∆∆
ABS
!!
∆∆
!
∆∆
4 to
9
ABS
!!
∆∆
!
∆∆
ABS
!!
∆∆
!
∆∆
5 to
10
!
!
!
!
!
!
!
9 to
14
Constant-speed,
passing point
incremental designation
Constant-
speed
control
Constant-speed,
passing point
absolute designation
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