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4.2.1 Axis monitor devices ......................................................................................................................... 4-64
4.2.2 Control change registers................................................................................................................... 4-67
4.2.3 Axis monitor devices 2 ...................................................................................................................... 4-68
4.2.4 Control program monitor devices ..................................................................................................... 4-72
4.2.5 Control change registers 2................................................................................................................4-74
4.2.6 Tool length offset data setting registers............................................................................................ 4-75
4.2.7 Common devices ..............................................................................................................................4-76
4.3 Motion Registers (#)................................................................................................................................. 4-79
4.4 Special Relays (SP.M)............................................................................................................................. 4-80
4.5 Special Registers (SP.D) ......................................................................................................................... 4-83
5. PARAMETERS FOR POSITIONING CONTROL 5- 1 to 5-20
5.1 System Settings .......................................................................................................................................5- 1
5.2 Fixed Parameters.....................................................................................................................................5- 2
5.2.1 Number of pulses/travel value per rotation....................................................................................... 5- 3
5.2.2 Backlash compensation amount....................................................................................................... 5- 5
5.2.3 Upper/lower stroke limit value........................................................................................................... 5- 5
5.2.4 Command in-position range..............................................................................................................5- 7
5.2.5 High-speed feed rate setting............................................................................................................. 5- 8
5.2.6 Speed control 10
multiplier setting for degree axis........................................................................ 5- 9
5.3 Parameter Block.......................................................................................................................................5-13
5.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid
stop deceleration time................................................................................................................... 5-16
5.3.2 S-curve ratio ...................................................................................................................................... 5-18
5.3.3 Allowable error range for circular interpolation................................................................................. 5-19
5.4 Work Coordinate Data .............................................................................................................................5-20
6. MOTION PROGRAMS FOR POSITIONING CONTROL 6- 1 to 6-186
6.1 Motion Program Composition.................................................................................................................. 6- 1
6.2 Type of The Motion Program................................................................................................................... 6- 4
6.3 G-code List ............................................................................................................................................... 6- 5
6.4 M-code List............................................................................................................................................... 6- 7
6.5 Control Instruction List .............................................................................................................................6- 8
6.6 Start/End Method ..................................................................................................................................... 6-10
6.7 Number of Maximum Nesting for Program Call and Multi Startable Program....................................... 6-12
6.8 Motion parameter..................................................................................................................................... 6-13
6.9 Caution at The Axis Designation Program Creation............................................................................... 6-14
6.10 Instruction Symbols/Characters List...................................................................................................... 6-19
6.11 Setting Method for Command Data....................................................................................................... 6-23
6.11.1 Direct setting (numerical value) ...................................................................................................... 6-23
6.11.2 Indirect setting .................................................................................................................................6-24
6.11.3 Operational data.............................................................................................................................. 6-31
6.11.4 Setting range of instruction symbols list......................................................................................... 6-41
6.11.5 Positioning control unit for 1 axis .................................................................................................... 6-43
6.11.6 Control units for interpolation control.............................................................................................. 6-44
6.11.7 Control in the control unit "degree"................................................................................................. 6-46
6.12 About Coordinate Systems.................................................................................................................... 6-48