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6 POSITIONING CONTROL
(3) Operation timing and speed-switching positions
Operation timing and positions for speed switching are shown below.
20000
P1
P2
40000
P4
20000
Axis 2 positioning direction
P3
10000
Center
point
15000
V
t
40000
PLC ready flag (M2000)
All axes servo ON command
(M2042)
Axis 1 servo ready (M2415)
Start command (PX000)
Servo program start
Axis 1 start accept flag (M2001)
Axis 2 servo ready (M2435)
Axis 2 start accept flag (M2002)
All axes servo ON accept flag
(M2049)
Speed switching point specified
flag (M2040)
Axis 1 positioning
direction
0