115
4–11–2 CHANGE SPEED
CHANGE SPEED can only be executed during positioning initiated with
START. When executing CHANGE SPEED several times consecutively, you
can either choose to have speed numbers incremented one by one, or select
specific speed numbers to be executed in any order. Set the speed numbers
in bits 05 to 00 of IR word n+2. (See
IR Area Settings and DIP Switch Set-
tings under Section 4–10). If you set these bits to 00, the speed numbers will
be incremented in order from the one currently being executed. You can se-
lect specific speed numbers by setting the bits anywhere from 01 to 15.
It is also possible to execute CHANGE SPEED with bit 06 of IR word n, de-
pending on the DIP switch settings. If bit 06 is used, the data will simulta-
neously be input to IR word n+2. If you use an external interrupt signal, how-
ever, be sure to input the data at least one scan time early or it will not be
effective.
When the target position is being approached, CHANGE SPEED will not af-
fect deceleration. In other words, normal deceleration to end at the target
position will be carried out for single, pause, or bank end positioning actions,
and the target speed for the next positioning action will take priority for a con-
tinuous positioning action.
In the following example diagram, speed number 1 is used for the positioning
action executed first.
0
1
1
0
Time
START
IR n, bit 00
CHANGE SPEED
(external interrupt input
or IR n, bit 06)
Pulse output
Speed no. designation
IR n+2, bits 05 to 00
Speed #1
Speed #2
Speed #6
Speed #7
00
06
00
Execution Example
External Interrupt Commands
