Omron SYSMAC CS1G Operation Manual page 324

Command Details
Description
Caution
Axis1
Axis 2
SPEED Command
(2 axes simultaneously)
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.
(4) There is no influence. ABL specification is always used.
• The speed command is output to the specified axis.
• The speed command unit is specified in the parameter [P00004.bit02:
Unit function select, Speed command value]
[P00004.bit02] = 0 [0.01% of the rated speed]
[P00004.bit02] = 1 [0.01r/min]
• If Speed change rate is set to 0, the specified speed is output instantly. (If
the mode is switched from other mode to the speed control mode, this
value can be used as the output speed default value.)
• The Speed change rate is enabled for all the specified axes.
• SPEED command execution will be completed when the speed command
for all the specified axes reaches Speed command value.
• The SPEEDR command is processed as follows:
(1) The speed command is decelerated for all specified axes according to
the speed change rate and the speed command is output as 0.
(2) The system waits until the feedback speed is 0.
(3) The mode is switched to positioning control mode and the system waits
for the completion of positioning.
(4) Command execution is completed.
For MC Units with Ver. 2.0 or Later, step (2) is as follows:
(2) The system waits until the feedback speed is below the value set in
P3AA09.
• 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 142.)
The maximum time required from starting SPEED command to completing
the command is 136ms + (Actual acceleration time/unit cycle).
SPEEDR command
(Axis 2 alone)
Section 6-3
SPEEDR command
301