Omron CS1W-MCH71 Operation Manual page 380

Command Details
Caution
Axis1
Axis 2
SPEED Command
(2 axes simultaneously)
(4) Command execution is completed.
• During the command execution, the command code "001Ah" is output to
the system variable "Command execution status" (SW0228 for Axis 1).
(For details of command codes, see 4-5 System Variables Command
Code in Command Execution Status on page 158.)
The maximum time required from starting SPEED command to completing
the command is 136ms + (Actual acceleration time/unit cycle).
SPEEDR command
(Axis 2 alone)
• When executing the SPEED command, the following axis command posi-
tion values are output to system variables (refer to 4-5 System Variables).
Current coordinate command position: Same value as current coordi-
nate FB position
Machine coordinate current position: Same value as machine coordi-
nate FB position
• If MOVE command is executed without SPEEDR command, the mode
can be switched from the speed control mode to the position control
mode. To change the speed of SPEED command being executed to the
rapid feed rate of MOVE command smoothly, the system automatically
reads the position loop gain before starting execution of SPEED com-
mand except for the following cases:
1) When the position loop gain before execution of SPEED command is
different from the position loop gain right after transition to the MOVE
command.
2) When the position loop gain could not be read successfully due to in-
correct setting of the servo reading parameter.
In order to prevent shock, follow the instructions below:
• Do not use MOVE command right after acceleration or deceleration.
• Set the unit cycle and communication cycle to be the same.
• Decrease the speed specified in SPEED command.
• The Speed change rate of SPEED/SPEEDR specifies the time to reach
the motor rated speed from zero.
Section 6-3
SPEEDR command
335