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5 SERVO PROGRAMS FOR POSITIONING CONTROL
(2) Servo instruction list
The servo instructions that can be used in servo programs and the positioning
data set in the servo instruction are shown in Table 5.2. Refer to Section 5.3 for
details of the positioning data set in the servo instructions.
Table 5.2 Servo instruction list
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
ABS-1
Absolute 1-axis positioning
1 axis
INC-1
Incremental 1-axis positioning
ABS-2
Absolute 2-axes linear interpolation
2 axes
INC-2
Incremental 2-sxes linear interpolation
ABS-3
Absolute 3-axes linear interpolation
3 axes
INC-3
Incremental 3-axes linear interpolation
ABS-4
Absolute 4-axes linear interpolation
Linear interpolation control
4 axes
INC-4
Incremental 4-axes linear interpolation
ABS
Absolute auxiliary point-specified circular
interpolation
Auxiliary
point-
s
p
ecified
INC
Incremental auxiliary point-specified circular
interpolation
ABS
Absolute radius-specified circular
interpolation less than CW 180°
ABS
Absolute radius-specified circular
interpolation CW 180° or more
ABS
Absolute radius-specified circular
interpolation less than CCW 180°
ABS
Absolute radius-specified circular
interpolation CCW 180° or more
INC
Incremental radius-specified circular
interpolation less than CW 180°
INC
Incremental radius-specified circular
interpolation CW 180° or more
INC
Incremental radius-specified circular
interpolation less than CCW 180°
Circular interpolation control
Radius-specified
INC
Incremental radius-specified circular
interpolation CCW 180° or more