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6 POSITIONING CONTROL
6.17.2 Speed-switching by instruction execution
The speed can be specified for each pass point during the constant-speed control
instruction.
The speed change from a point can be specified directly or indirectly in the servo
program.
[Cautions]
(1) The speed switching during servo instruction is possible at the constant-speed
control for 1 to 4 axes.
(2) The speed command can be set for each point.
(3) By turning on the speed-switching point specified flag M2040 (Refer to Section
3.1.3) before the start, the point which completes speed change can be specified.
The speed change timing at the flag ON/OFF.
(a) M2040 is OFF
The speed change starts with the specified speed-switching point.
Speed change complete point
t
V
Speed-switching specified point
Speed change
start point
(position)
(b) M2040 is ON
The speed change ends with the specified speed-switching point.
t
V
Speed change complete point
Speed-switching specified point
Speed change
start point
(position)