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9 MOTION CONTROL PROGRAMS
Table 9.2 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 (I) forward
rotation start
Speed
control (I)
Reverse
rotation
VR
Speed control (I) reverse
rotation start
Forward
rotation
VVF
Speed control (II) forward
rotation start
Speed
control (II)
Reverse
rotation
VVR
Speed control (II) 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