IAI PSEL, Operation Manual

Page: 868 / 1062

[12]
Actuator Control Command
374
z
CHVL (Dedicated command for linear axis: Change 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 CHVL Axis pattern
Speed
CP
Applicable models
XSEL-JX/KX
u
Other than XSEL-JX/KX
{
[Function] Change the speed of the axes operating in other task.
When a CHVL command is executed, the speed of the axes specified in operand 1 will
change to the value specified in operand 2.
(Note 1) This command is not valid on an axis operated by a CIR, ARC, PSPL, PUSH, or ARCH
command.
(Note 2) Executing a CHVL command for an axis operating in sigmoid motion (SCRV command)
will generate an “Error No. CC1, Speed-change condition error”.
(Note 3) This is a temporary speed-change command issued from other task to the active
packet (point). It is not affected by the data declared by VEL.
Program 1 Program 2
VEL 300
x
x
MOVP 1
CHVL 11 100 MOVP 2
MOVP 3
x
x
The axis pattern can be specified indirectly using a variable.
When program 1 is rephrased based on indirect specification using a variable:
11 (binary)
o
3 (decimal)
LET 1 3 Assign 3 to variable 1.
CHVL *1 100
(Note 4)
Since this command is valid only for the packet that is active at the time of execution of
the command for an axis subject to continuous motion in a PATH command, etc.,
caution must be exercised against the timing shift. The packet handling will be put on
hold during speed-change processing, so caution must also be exercised against the
locus shift.
Program 1 Program 2
x
VEL 300
x x
x x
CHVL 11 100 PATH 1 5
x
x
x
If CHVL is executed in program 1 while PATH is executed in program 2, or specifically
during the PATH movement from point No. 2 to point No. 3, the speed specified by
CHVL (100mm/sec in the above example) will become valid only during the PATH
movement to point No. 3. Other travel speeds will remain at the speed specified by
VEL (300mm/sec in the above example).
No. 1 No. 3 No. 5
No. 2 No. 4
VEL 100
If CHVL is executed in program 1 while MOVP
2 is executed in program 2, the travel speed of
MOVP 2 will become 100mm/sec.
The speeds of other move commands will
remain 300mm/sec.