Omron SYSMAC CS1G Operation Manual page 323

Command Details
Speed Control/Speed
Control Cancel
(SPEED/SPEEDR)
Command type
Format
Operand
Operand Setting range
Speed command See note 1.
value
Speed change rate 0 to 60000ms
Note
300
See the following example:
Ex:
...
ADDAX [J02] [J01];
PARALLEL N2;
MOVE [J01]1000.;
JOINT;
← J02 is the slave axis in the superimposition. Posi-
MOVE [J02] 500;
...
The speed of the axis is controlled in the speed control mode.
Single execution command
SPEED_[<axis name>]<speed command value> ---8--- T< speed change
rate>;
SPEEDR_[<axis name>] ---8--- T<speed change rate>;
Ex: SPEED_[J01]100.00 [J02]100.00 T100;
SPEEDR_[J01] [J02] T100;
Axis Name: J01 to J32
Decimal
Bit
Yes No
No No
(1) With Rated % specification (P00004 bit2=0):
This is the % specification for the motor rated rotations in the unit of
0.01%. The setting range is − 500000 to 500000.
If the value I0000 is set, it is interpreted as 100% of the rated rotations.
The maximum speed in actual operations is limited by the maximum ro-
tation speed of the motor.
With r/min specification (P00004 bit2=1):
This is the specification of rotations (r/min) in the unit of 0.01%. Setting
range is − 10000000 to 10000000.
If the value 300000 is set, it is interpreted as 3000r/min.
The maximum speed in actual operations is limited by the maximum ro-
tation speed of the motor.
(2) Word data is extended to long word data with a sign in the MC Unit.
(3) With Rated % specification (P00004 bit2=0)
The minimum command unit is 0.01%.
The actual value = (Decimal immediate value or Variable of real number
type) × 10 2
)
Figures below the decimal point are to be omitted.
In case of r/min specification (P00004 bt2=1)
tioning only up to 500. is not sufficient for in-posi-
tion, which means that the MOVE command cannot
be completed. Practically, it will be completed after
the movement of [J01] (2 lines before) is completed.
To avoid waiting for completion of [J01], it is neces-
sary to replace use MOVEL in Pass Mode, etc.
Variable specification
Word Long
word number
Yes (See Yes Yes (See
note 2.) note 3.)
Yes (See Yes Yes
note 2.)
Section 6-3
INC/ ABL
influ-
Real Indirect
ence
specifi-
cation
Yes No (See
note 4.)
Yes No