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4.3.3 Allowable error range for circular interpolation................................................................................. 4-14
5. SERVO PROGRAMS FOR POSITIONING CONTROL 5- 1 to 5-24
5.1 Servo Program Composition Area........................................................................................................... 5- 1
5.1.1 Servo program composition.............................................................................................................. 5- 1
5.1.2 Servo program area .......................................................................................................................... 5- 2
5.2 Servo Instructions .................................................................................................................................... 5- 3
5.3 Positioning Data ....................................................................................................................................... 5-16
5.4 Setting Method for Positioning Data........................................................................................................ 5-22
5.4.1 Setting method by specifying numerical values ............................................................................... 5-22
5.4.2 Indirect setting method by word devices (D, W and #) .................................................................... 5-23
6. POSITIONING CONTROL 6- 1 to 6-232
6.1 Basics of Positioning Control ................................................................................................................... 6- 1
6.1.1 Positioning speed .............................................................................................................................. 6- 1
6.1.2 Positioning speed at the interpolation control .................................................................................. 6- 2
6.1.3 Control units for 1 axis positioning control........................................................................................ 6- 7
6.1.4 Control units for interpolation control................................................................................................ 6- 7
6.1.5 Control in the control unit "degree"................................................................................................... 6- 9
6.1.6 Stop processing and restarting after stop........................................................................................ 6-11
6.1.7 Acceleration/deceleration processing............................................................................................... 6-17
6.2 1 Axis Linear Positioning Control............................................................................................................. 6-19
6.3 2 Axes Linear Interpolation Control ......................................................................................................... 6-22
6.4 3 Axes Linear Interpolation Control ......................................................................................................... 6-27
6.5 4 Axes Linear Interpolation Control ......................................................................................................... 6-33
6.6 Auxiliary Point-Specified Circular Interpolation Control .......................................................................... 6-38
6.7 Radius-Specified Circular Interpolation Control...................................................................................... 6-43
6.8 Central Point-Specified Circular Interpolation Control ............................................................................ 6-49
6.9 Helical Interpolation Control..................................................................................................................... 6-55
6.9.1 Circular interpolation specified method by helical interpolation....................................................... 6-56
6.10 1 Axis Fixed-Pitch Feed Control............................................................................................................ 6-77
6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation ............................................................... 6-81
6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation ............................................................... 6-85
6.13 Speed Control (
).................................................................................................................................... 6-89
6.14 Speed Control (
)................................................................................................................................... 6-93
6.15 Speed/Position Switching Control ......................................................................................................... 6-96
6.15.1 Speed/position switching control start ............................................................................................ 6-96
6.15.2 Re-starting after stop during control ............................................................................................. 6-103
6.16 Speed-Switching Control ..................................................................................................................... 6-108
6.16.1 Speed-switching control start, speed-switching points and end specification ............................6-108
6.16.2 Specification of speed-switching points using repetition instructions.......................................... 6-114
6.17 Constant-Speed Control ......................................................................................................................6-120
6.17.1 Specification of pass points by repetition instructions .................................................................6-124
6.17.2 Speed-switching by instruction execution ....................................................................................6-129
6.17.3 1 axis constant-speed control ....................................................................................................... 6-134
6.17.4 2 to 4 axes constant-speed control...............................................................................................6-138
6.17.5 Constant speed control for helical interpolation ........................................................................... 6-145
6.17.6 Pass point skip function ................................................................................................................ 6-148