IAI X-SEL PX, Руководство по эксплуатации, Страница: 280 / 560

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Part 4 Commands

CHVL (Dedicated linear movement axis command: 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)
Optional Optional CHVL Axis pattern Speed CP
[Function] Change the speed of axes currently 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 used exclusively for linear movement axes. If it is used for a SCARA axis,
an “Error No. B80, Specification-prohibited axis error” will generate.
(Note 2) This command is not valid on an axis operated by a CIR, ARC, PSPL, PUSH, ARCH,
PACH, CIRS or ARCS command.
(Note 3) Executing a CHVL command for an axis operating in sigmoid motion (SCRV command) will
generate an “Error No. CC1, Speed change condition error.”
(Note 4) 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.
If CHVL is executed in program 1 while MOVP 2 is being
executed in program 2, the travel speed of MOVP 2 will
become 100 mm/sec. The speeds of other move
commands will remain 300 mm/sec.
An axis pattern can be indirectly specified using a variable. An example of specifying
program 1 indirectly using a variable is shown below.
10000 (binary)

16 (decimal)
LET 1 16 Assign 16 to variable 1.
CHVL *1 100
(Note 5) Since this command is valid only for the packet that is active at the time of execution of the
command for an axis pertaining to continuous-motion packet points in a PATH command,
etc., caution must be exercised against a timing shift, etc. The packet handling will be put
on hold during speed change processing, so caution must also be exercised against a
locus shift.
If CHVL is executed in program 1 while PATH is being executed in program 2, or
specifically during the movement from point No. 2 to point No. 3, the speed specified by
CHVL (100 mm/sec in the above example) will become valid only during the movement to
point No. 3. Other travel speeds will remain at the speed specified by VEL (300 mm/sec in
the above example).
Program 1
Program 2
Program 1 Program 2
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Part 4 Commands
(Note 6) Override of the CHVL call task will be applied, so caution must be exercised.
(Note 7) The maximum speed of the specified axis that has completed home return will be clamped
by the minimum value set in “Axis-specific parameter No. 28, Maximum operating speed of
each axis” or “Axis-specific parameter No. 27, Maximum speed limited by maximum motor
speed” with respect to the specified axis and related interpolation axes currently operating.
To prevent the maximum speed from being limited due to the effect of other axis whose
maximum speed is lower than the speed specified in the CHVL command, issue a CHVL
command in multiple steps in such a way that each command applies to an axis or group of
axes having the same speed. In particular, specification of a CHVL command in a separate
step is recommended for a rotational movement axis.
[Example]
CHVL 110000 500  CHVL 100000 500
CHVL 10000 500
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