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G31 P99 servo torque limit skip

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could anyone lend some detailed information as to how you would use this function? the Fanuc manual is quite vague. is this an option that the machine builder installs or are all Fanuc controls able to do this. I am using an Oi mate tc on a cylindrical grinder. I would like to put a skip in for the X axis to stop infeeding the wheel during a plunge grind cycle as servo torque increases thereby sending wheel out to dress. any info would be greatly appreciated!

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