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350
Using Direct Operation
Section 9-4
9-4-4
Changing Target Speed
during direct operation, by setting a new speed command value in the Axis
Operating Output Memory Area, the target speed for the positioning operation
can be changed. The speed command value is enabled at the I/O refresh
after it is set in the Axis Operating Memory Area. The PCU starts changing to
the new target speed at the acceleration/deceleration set in the Servo Param-
eters when the new speed command value is enabled.
Timing Chart for Changing Target Position and Target Speed
2710 hex (10000)
3E8 hex (1000)
1000
7D0 hex (2000)
2000
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
ABSOLUTE MOVEMENT
(word a, bit 03)
Speed
Receiving Command
Flag (word b, bit 00)
Busy Flag (word b, bit 13)
Target speed changed
Absolute position: 10,000
(The Busy Flag turns OFF when positioning is completed.)
The Receiving Command Flag does not
turn ON when changing the target speed.
Time
The target speed can be changed at any time by
overwriting the speed command value.
If the positioning travel distance is not sufficient to
change the speed, the axis will decelerate and
positioning will stop, without reaching the target speed.
4E20 hex (20000)
2710 hex (10000)
3E8 hex (1000)
1000
7530 hex (30000)
5DC hex (1500)
1500
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
ABSOLUTE MOVEMENT
(word a, bit 03)
Speed
Receiving Command
Flag (word b, bit 00)
PCU Positioning Completed
Flag (word b, bit 05)
Busy Flag (word b, bit 13)
Previous target position
(absolute position: 10,000)
Absolute
position:
20000
Target position changed
Target speed changed
Time
Broken line: Feedback speed
Solid line: Command speed
The target position change, is executed
according to the position command value
when the ABSOLUTE MOVEMENT or
RELATIVE MOVEMENT Bit turns ON.
In the example here, positioning is
performed to 20000 and changing the
target position to 30000 is not executed.
The target speed can be changed at any
time by overwriting the speed command
value.
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...