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11.4.4 Creating a program to enable/disable the manual pulse generator operation ..........................11- 33
12. Control Sub Functions 12- 1 to 12- 98
12.1 Outline of sub functions .......................................................................................................................12- 2
12.1.1 Outline of sub functions.................................................................................................................12- 2
12.2 Sub functions specifically for machine OPR ....................................................................................... 12- 4
12.2.1 OPR retry function.........................................................................................................................12- 4
12.2.2 OP shift function ...........................................................................................................................12- 8
12.3 Functions for compensating the control .............................................................................................12- 11
12.3.1 Backlash compensation function.................................................................................................12- 11
12.3.2 Electronic gear function................................................................................................................ 12- 13
12.3.3 Near pass function .......................................................................................................................12- 18
12.4 Functions to limit the control...............................................................................................................12- 21
12.4.1 Speed limit function......................................................................................................................12- 21
12.4.2 Torque limit function.....................................................................................................................12- 23
12.4.3 Software stroke limit function.......................................................................................................12- 26
12.4.4 Hardware stroke limit function .....................................................................................................12- 32
12.5 Functions to change the control details..............................................................................................12- 34
12.5.1 Speed change function ................................................................................................................12- 34
12.5.2 Override function..........................................................................................................................12- 41
12.5.3 Acceleration/deceleration time change function .........................................................................12- 44
12.5.4 Torque change function ...............................................................................................................12- 48
12.6 Absolute position restoration function ................................................................................................12- 50
12.7 Other functions....................................................................................................................................12- 58
12.7.1 Step function.................................................................................................................................12- 58
12.7.2 Skip function.................................................................................................................................12- 63
12.7.3 M code output function.................................................................................................................12- 66
12.7.4 Teaching function.........................................................................................................................12- 70
12.7.5 Target position change function...................................................................................................12- 77
12.7.6 Command in-position function .....................................................................................................12- 81
12.7.7 Acceleration/deceleration processing function............................................................................12- 84
12.7.8 Pre-reading start function.............................................................................................................12- 87
12.7.9 Deceleration start flag function ....................................................................................................12- 92
12.7.10 Stop command processing for deceleration stop function........................................................ 12- 96
13. Common Functions 13- 1 to 13- 8
13.1 Outline of common functions ...............................................................................................................13- 2
13.2 Parameter initialization function........................................................................................................... 13- 3
13.3 Execution data backup function........................................................................................................... 13- 5
13.4 External I/O signal logic switching function.........................................................................................13- 7
13.5 External I/O signal monitor function ....................................................................................................13- 8
14. Dedicated instructions 14- 1 to 14- 22
14.1 List of dedicated instructions ...............................................................................................................14- 2
14.2 Interlock during dedicated instruction is executed..............................................................................14- 2
14.3 ABRST1, ABRST2, ABRST3, ABRST4..............................................................................................14- 3