IAI PSEL, Operation Manual

Page: 805 / 1062

[1
1]
Actuator Control Declaration
311
z
VLMX (Dedicated linear axis command/Specify VLMX speed)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional VLMX Prohibited Prohibited CP
Applicable models
XSEL-JX/KX ×
Other than XSEL-JX/KX
{
[Function] Set the moving speed of a linear axis to the VLMX speed (normally maximum
speed).
Executing a VLMX command will set the value registered in “Axis-specific
parameter No. 29, VLMX speed” as the travel speed.
(Note 1) If the VLMX speed is specified for a continuous position movement command
(PATH, PSPL), the target speed to each position becomes a composite speed
based on the VLMX speed to the extent that each axis does not exceed the value
set in axis-specific parameter No. 28, “Maximum PTP speed (SCARA axis)/
axis-specific maximum operating speed (linear axis)”. To keep the target speed
constant, you must expressly specify the speed using a VEL command.
(Note 2) Error No. C88 “Velocity Specification Error” will occur if VLMX speed is indicated
in case of CP operation held on the liner axes and SCARA axes at the same time.
Indicate the speed with VEL Command.
[Example] VEL 1000
MOVP 1 The speed becomes 1000mm/sec in this section.
MOVP 2
VLMX
MOVP 3 The speed becomes VLMXmm/sec in this section.
MOVP 4