IAI America XSEL-KET - Manual (Page 201)

182
Part 4 Commands
INTELLIGENT ACTUATOR
 CHVL (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 the axes 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 not valid on an axis operated by a CIR, ARC, PSPL, PUSH, ARCH, PACH, CIRS or
ARCS command.
(Note 2) Executing a CHVL command for an axis operating in sigmoid motion will generate an “Error No. CC1,
Speed-change condition error.”
(Note 3) 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.
Program 1 Program 2
VEL 300


MOVP 1
CHVL 111 100 MOVP 2
MOVP 3


The axis pattern can be indirectly specified using a variable. When [Example 1] is indirectly specified using a variable.
111 (binary)
 7 (decimal)
LET 1 7 Assign 7 to variable 1.
CHVL *1 100
(Note 4)
Since this command is valid only for the packet that is active at the time of execution of the command
for an axis subject to continuous motion in a PATH command, etc., caution must be exercised against
the timing shift. The packet handling will be put on hold during speed-change processing, so caution
must also be exercised against the locus shift.
Program 1 Program 2
 VEL 300
 
 
CHVL 111 100 PATH 1 5



If CHVL is executed in program 1 while PATH is executed in program 2, or specifically during the PATH
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 PATH movement to point No. 3. Other travel speeds will
remain at the speed specified by VEL (300 mm/sec in the above example).
(Note 5) Override of the CHVL call task will be applied, so caution must be exercised.
(Note 6) Tue upper-limit speed of the home return completion specification axis is clamped at the smallest value
among the values of “Axis-specific parameter No. 28: Maximum operating speed of each axis” and
“Axis-specific parameter No. 27: Maximum speed limited by maximum motor speed” for the home return
completion specification axis and related interpolation operation axes. To prevent the upper-limit speed
from being limited by the effect of other axis whose maximum speed is lower than the speed specified
by the CHVL command, divide the CHVL command into multiple steps for each group of axes with a
different maximum speed. In particular, it is recommended to specify a different step for rotational axes.
[Example] CHVL 111 500  CHVL 111 500
CHVL 1000 500
No. 1 No.3 No.5
No. 2 No.4
VEL 100
If CHVL is executed in program 1
while MOVP 2 is 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.