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5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.2 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
ABS
Absolute central point-specified circular
interpolation CW
ABS
Absolute central point-specified circular
interpolation CCW
INC
Incremental central point-specified circular
interpolation CW
Circular interpolation
control
Central point-specified
INC
Incremental central point-specified circular
interpolation CCW
ABH
Absolute auxiliary point- specified helical
interpolation
Auxiliary
point-
s
p
ecified
INH
Incremental auxiliary point- specified helical
interpolation
ABH
Absolute radius-specified helical
interpolation less than CW 180°
ABH
Absolute radius-specified helical
interpolation CW 180° or more
ABH
Absolute radius-specified helical
interpolation less than CCW 180°
ABH
Absolute radius-specified helical
interpolation CCW 180° or more
INH
Incremental radius-specified helical
interpolation less than CW 180°
INH
Incremental radius-specified helical
interpolation CW 180° or more
INH
Incremental radius-specified helical
interpolation less than CCW 180°
Radius-specified
INH
Incremental radius-specified helical
interpolation CCW 180° or more
ABH
Absolute central point-specified helical
interpolation CW
ABH
Absolute central point-specified helical
interpolation CCW
INH
Incremental central point-specified helical
interpolation CW
Helical interpolation control
Central point-specified
INH
Incremental central point-specified helical
interpolation CCW