5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.2 Servo Instruction List (continued)

Instruction

Positioning data

 

 

 

Common

 

 

 

 

Circular

 

block No.

Axis

Address/travelvalue

Commandspeed

Dwell time

M-code

limit value

Auxiliary point

Radius

Central point

Pitch

symbol

FOR-TIMES

Processing

Virtual enable

Number of steps

Number of indirect words

Parameter

Torque

 

 

 

 

 

 

—

 

 

 

 

1

1

1

1

1

1

1

1

1

1

1

1

—

2

2

1

1

1

2

2

2

1

Positioning control

Repetition of same control (used in speed

switching control, constant- speed control)

Simultaneous

start

Home position return

High speed

oscillation

Current Value

change

FOR-ON Repeat range start setting

FOR-OFF

NEXT Repeat range end setting

START Simultaneous start

ZERO Home position return start

OSC

High-speed oscillation

CHGA

Servomotor/Virtual Servomotor Shaft

Current Value Change

 

CHGA-EEncoder current value change

CHGA-CCAM shaft current value change

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