Omron SYSMAC CS1G Operation Manual page 325

Command Details
Speed
Rated Speed
V2
V3
-Rated Speed
302
• 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.
Program Image
SPEED [J01]<V1> T<T1>; Speed control started
:
SPEED [J01]<V2> T<T2>; Speed changed
SPEED [J01]<V3> T<T3>; Speed and direction changed
:
SPEEDR [J01] T<T4>; Speed control completed
T1
T2
T3
T3
Section 6-3
T4
Time