4.3.18 Zero speed .............................................................................................................................. 4-21
4.3.20 Optional function 5................................................................................................................... 4-21
4.4 Parameter Block............................................................................................................................... 4-22
4.4.2 S-curve ratio .............................................................................................................................. 4-24
5.3.1 CHGA instructions ...................................................................................................................... 5- 5
5.4.1 CHGV instructions ...................................................................................................................... 5- 8
5.6.1 CHGT instructions ..................................................................................................................... 5-14
5.7 SFC Programs ................................................................................................................................. 5-16
6.1.2 Servo program area.................................................................................................................... 6- 2
6.2 Servo Instructions ............................................................................................................................. 6- 3
6.3 Positioning Data ................................................................................................................................ 6- 9
7. POSITIONING CONTROL......................................................................................................7- 1 to 7-150
7.1.1 Positioning speed ....................................................................................................................... 7- 1
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