Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 277)

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Part 4 Commands

z 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) o 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

1 2 ... 272 273 274 275 276 277 278 279 280 281 282 ... 557 558

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