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6. APPLICATION FUNCTIONS
(2) Point table
Set the points where continuous operation to torque control is performed in "continuous operation to torque
control specification" in the auxiliary command.
Point
Position data
[Command units]
Feed speed
[Speed units]
Acceleration
constant [ms]
Deceleration
constant [ms]
Dwell/pre
dwell [ms]
Auxiliary
command
Other axes
start
specification
S-curve
ratio [%]
Reserved
4 bytes 4 bytes 2 bytes 2 bytes 2 bytes 2 bytes 4 bytes 1 byte 11 bytes
0000 -2000 3000 20 30 0 0000h 00000000h 0 0
0001 -3000 1000 30 50 0 0000h 00000000h 0 0
0002 -2000 1000 30 50 0 0000h 00000000h 0 0
0003 0 3000 20 30 0 0000h 00000000h 0 0
: : : : : : : : : :
b15
0 0 0
b12
0 0 0
b8 b4
0 0 0
b0
Position command system(bit0)
Reserved(bit1 to 3)
Reserved(bit10 to 15)
Deceleration check system(bit4 to 5)
Speed switching point specification(bit6)
Dwell specification(bit7)
Pass position interrupt specification(bit8)
Continuous operation to torque control
specification(bit9)
(a) Position command method
0: Absolute position command
1: Relative position command
(b) Deceleration check system
Operation is complete at the completion of continuous operation to torque control. Continuous operation
is invalid.
(c) Speed switching point specification
Speed switching point specification is invalid.
(d) Dwell specification
0: Dwell (Specify the time for after switching to position control mode)
1: Predwell (point movement starts when the time specified by predwell has passed.)
(e) Pass position interrupt specification
0: Pass position interrupt invalid
1: Pass position interrupt valid
(f) Continuous operation to torque control specification
0: Continuous operation to torque control invalid
1: Continuous operation to torque control valid
API LIBRARY
• Use the sscSetPointDataEx/sscCheckPointDataEx functions to set/get point
data.