CPU模块1769-L23E-QB1B

1769-L23E-QB1B

开始位置在通过近点DOG前的时候:  

1. 通过执行DSZR/DDSZR指令，开始原点回归动作。

2. 以原点回归速度，向原点回归方向开始移动。

3. 一旦检测出近点DOG的前端，就开始减速到爬行速度。

4. 检测出近点DOG的后端后，在检测出指定次数的零点信号时停止。

02   开始位置在近点DOG里面的时候:  

1. 通过执行DSZR/DDSZR指令，开始原点回归动作

2. 以原点回归速度，向与原点回归方向相反的方向开始移动。

3. 一旦检测出近点DOG的前端，就进行减速停止。(离开近点DOG。)

4. 以原点回归速度，向原点回归方向开始移动。(再次进入近点DOG。)

5. 一旦检测出近点DOG的前端，就开始减速到爬行速度。

6. 检测出近点DOG的后端后，在检测出指定次数的零点信号时停止。

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