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95
6-5
Relation between SRT and Positioning Actions
The following table shows the positioning action fields pertinent to execution
of XSRT, YSRT, and ISRT which initiate X-axis positioning, Y-axis positioning,
and interpolated (both X and Y axes) positioning, respectively. If any perti-
nent fields have erroneous data, then a command error occurs. Designating
XSRT or YSRT for interpolated positioning actions will refer only to the re-
spective X or Y positioning actions. Only a single axis will operate.
Key. *: Data in this field is used. –: Data in this field unused. 0/1: Fixed data
for the particular operation.
s
Field or field bit
X-axis po-
sitioning
Y-axis po-
sitioning
X-axis
continuous
positioning
Straight
line inter-
polation
Continuous
straight-line
interpolation
Circular arc
interpolation (using in-
termediate point)
Circular arc interpo-
lation (using center)
Axis
First
address
Next
address
First
address
Next
address
First
address
Next
address
First
address
Next
address
Position
*
*
*
*
*
*
*
*
*
*
Speed
*
*
*
*
*
*
*
–
*
*
M code
*
*
*
*
*
*
–
*
–
*
Dwell time
*
–
*
*
–
*
–
*
–
*
X
Acceleration and de-
celeration time
*
*
*
*
*
*
**
–
*
–
Interpolation code
00
00
00
01
01
01
10
01
11
01
Position type
*
*
*
*
*
*
*
*
*
*
Position field sign 1
*
*
*
*
*
*
*
*
*
*
Positioning action
enable
1
1
1
1
1
1
1
–
1
–
Circular arc interpo-
lation direction
–
–
–
–
–
–
–
–
*
–
Completion code
0
1
0
0
1
0
0/1
–
0/1
–
Position
*
*
*
*
*
*
*
*
Speed
*
–
–
–
–
–
–
–
M code
*
–
–
–
–
–
–
–
Dwell time
*
–
–
–
–
–
–
–
Y
Acceleration and de-
celeration time
*
–
–
–
–
–
–
–
Interpolation code
00
–
–
–
–
–
–
–
Position type
*
*
*
*
*
*
*
*
Position field sign
*
*
*
*
*
*
*
*
Positioning action
enable
1
1
1
1
1
–
1
–
Circular arc interpo-
lation direction
–
–
–
–
–
–
–
–
Completion code
0
–
–
–
–
–
–
–
Relation between SRT and Positioning Actions
Section 6-5