YOKOGAWA F3YP14-0N, User Manual

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3-12
IM 34M6H55-02E 1st Edition : Apr 1, 2002-00
3.9 Changing Speed during Operation
To change the speed of an axis currently moving in a positioning or jog stepping
operation, write a new target speed and acceleration/deceleration time, set the
command code to 6 (Change Speed command), and change the state of the Execute
Command output relay from off to on.
The following restrictions apply to changing the speed during positioning or jog stepping.
If the Change Speed command issued during acceleration, deceleration or a change in
speed is such as to prevent the axis from stopping at the target position, the command
is ignored, the Execute Command ACK input relay is not set, and an alarm is raised.
The alarm status is automatically cleared when the state of the Execute Command
output relay is changed from on to off.
If a Change Speed command is issued during a jog stepping operation, the module
waits until all acceleration and deceleration has been completed before executing the
command. If a new Change Speed command is issued during the wait, the previous
command is discarded and only the new command is executed.
Figure 3.12 Behavior When the Speed is Changed
Time
Speed
Start ↑ ↑ ↑
Request to
change speed
Request to
change speed
F030901.VSD