IAI America XSEL-QX - Manual (Page 277)

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Part 4 Commands
z CHVL (Dedicated linear movement axis command: Change speed)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional CHVL Axis pattern Speed CP
[Function] Change the speed of axes currently operating in other task.
When a CHVL command is executed, the speed of the axes specified in operand 1 will
change to the value specified in operand 2.
(Note 1) This command is used exclusively for linear movement axes. If it is used for a SCARA axis,
an “Error No. B80, Specification-prohibited axis error” will generate.
(Note 2) This command is not valid on an axis operated by a CIR, ARC, PSPL, PUSH, ARCH,
PACH, CIRS or ARCS command.
(Note 3) Executing a CHVL command for an axis operating in sigmoid motion (SCRV command) will
generate an “Error No. CC1, Speed change condition error.”
(Note 4) This is a temporary speed change command issued from other task to the active packet
(point). It is not affected by the data declared by VEL.
If CHVL is executed in program 1 while MOVP 2 is being
executed in program 2, the travel speed of MOVP 2 will
become 100 mm/sec. The speeds of other move
commands will remain 300 mm/sec.
An axis pattern can be indirectly specified using a variable. An example of specifying
program 1 indirectly using a variable is shown below.
10000 (binary)
o 16 (decimal)
LET 1 16 Assign 16 to variable 1.
CHVL *1 100
(Note 5) Since this command is valid only for the packet that is active at the time of execution of the
command for an axis pertaining to continuous-motion packet points in a PATH command,
etc., caution must be exercised against a timing shift, etc. The packet handling will be put
on hold during speed change processing, so caution must also be exercised against a
locus shift.
If CHVL is executed in program 1 while PATH is being executed in program 2, or
specifically during the movement from point No. 2 to point No. 3, the speed specified by
CHVL (100 mm/sec in the above example) will become valid only during the movement to
point No. 3. Other travel speeds will remain at the speed specified by VEL (300 mm/sec in
the above example).
Program 1 Program 2
Program 1 Program 2