Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 262

Program and Task Configuration
Interpolation Feed Rate Interpolation Feed Rate
The feed rate for the axis movement commands MOVEL, MOVEC, and
MOVETRAV can be set in the Operand F in motion programs. Overwriting the
value in F can change the feed rate though it is not valid during operations.
During motion program execution, the previously specified interpolation speed
will be held until the newly set speed is enabled. (Modal data.)
Upper Limit of Command Value
The value set in the parameter [P00M01: Maximum interpolation feed rate]
limits the speed after override, the speed specified in the operand F.
If the speed of axes exceeds the speed specified in the parameter [P2AA01:
Maximum rapid feed rate], the speed will be limited as shown in the table
below:
Command
MOVEL Interpolation feed rate is limited in order to prevent the speed of the
axis that has the longest travel distance from exceeding the speed
specified in the parameter [P2AA01: Maximum rapid feed rate].
MOVEC Speed of axes is not checked.
MOVETRAV Interpolation feed rate is limited in order to prevent the speed of
rotation axis from exceeding the speed specified in the parameter
[P2AA01: Maximum rapid feed rate].
Override
Multiplying the override and the interpolation feed rate can change speed of
the operation in progress. The task override is used for the interpolation feed
rate. Range of the task override is between 0 and 327.67%. When a value
outside of the range is set, the override 0% is used. If the distributed interpola-
tion feed rates on the axes exceed the speeds specified in the parameter
[P2AA01: Maximum rapid feed rate] for the axes, the maximum speed of the
axis that has the longest travel distance (the fastest axis) will be used as the
upper limit.
For details on the task override, see 7-4-3 Motion Task Control Bits
(page 404).
Speed limit operation
Section 6-1
239