7. POSITIONING CONTROL
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(3) Operation timing and speed-switching positions
The operation timing and positions for speed switching are shown below.
V
t
Axis 1 positioning
direction
Axis 2 positioning direction
20000
40000
20000 40000
10000
15000
Axis 1 start accept flag (M2001)
Axis 2 start accept flag (M2002)
All axes servo start command (M2042)
All axes servo start accept flag (M2049)
Start command (X000)
SVST instruction
PLC ready (M2000)
Speed-switching designation flag
(M2040)
P1
P2
P3
P4
Center
point
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