9 - 8
9 MOTION CONTROL PROGRAMS
Table 9.2 Servo Instruction List (continued)
Positioning data
Common Circular
Instruction
symbol
Processing
Parameter block No.
Axis
Address/travel value
Command speed
Dwell time
M-code
Torque limit value
Auxiliary point
Radius
Central point
Pitch
Virtual enable
—
Number of steps
1 1 1 1 1 1 1 1 1 1 1
Positioning control
Number of indirect words
1 — 2 2 1 1 1 2 2 2 1
Position
follow-up
control
PFSTART
Position follow-up control start
CPSTART1
1-axis constant-speed control start
CPSTART2
2-axes constant-speed control start
CPSTART3
3-axes constant-speed control start
CPSTART4
4-axes constant-speed control start
ABS-1
ABS-2
ABS-3
ABS-4
ABS
ABS
ABS
ABS
ABS
ABS
ABS
Constant-speed control passing point
absolute specification
ABH
ABH
ABH
ABH
ABH
ABH
Constant-speed control
ABH
Constant-speed control passing point
helical absolute specification
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