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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
1 axis
FEED-1
1-axis fixed-pitch feed start
2 axes
FEED-2
2-axes linear interpolation
fixed-pitch feed start
Fixed-pitch feed
3 axes
FEED-3
3-axes linear interpolation
fixed-pitch feed start
Forward
rotation
VF
Speed control (
) forward
rotation start
Speed
control (
)
Reverse
rotation
VR
Speed control (
) reverse
rotation start
Forward
rotation
VVF
Speed control (
) forward
rotation start
Speed
control (
)
Reverse
rotation
VVR
Speed control (
) reverse
rotation start
Forward
rotation
VPF
Speed-position control
forward rotation start
Reverse
rotation
VPR
Speed-position control
reverse rotation start
Speed-position
control
Restart
VPSTART
Speed-position control restart
VSTART
Speed-switching control start
VEND
Speed-switching control end
ABS-1
ABS-2
ABS-3
Speed-switching control end
point address
INC-1
INC-2
INC-3
Travel value up to speed-switching
control end point
VABS
Speed-switching point
absolute specification
Speed-switching control
VINC
Speed-switching point
incremental specification