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7 MOTION CONTROL PROGRAMS
Table 7.2 Servo Instruction List (continued)
Positioning
control
Instruction
symbol
Processing
Positioning data
Common Arc/Helical OSC
Parameter block No.
Axis
Address/travel value
Command speed
Dwell time
M -code
Torque limit value
Auxiliary point
Radius
Central point
Pitch
Starting angle
Amplitude
Frequency
Virtual enable
— — — —
Number of steps 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Number of indirect words 1 — 2 2 1 1 1 2 2 2 1 2 2 2
Repetition of
same control
(used in speed
switching control,
constant-speed
control)
FOR-TIMES
Repeat range start setting
FOR-ON
FOR-OFF
NEXT
Repeat range end setting
Simultaneous
start
START
Simultaneous start
Home position
return
ZERO
Home position return start
High speed
oscillation
OSC
High-speed oscillation
Current value
change
CHGA
Servo motor/Virtual Servo motor Shaft
Current Value Change
CHGA-E
Encoder current value change
CHGA-C
CAM shaft current value change
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