IAI America TTA - Manual (Page 57)

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4-3-39. Speed Change (262H)
Function: Chang the operating speed of the servo axis.
Data name Data range (value)
Data size
[bytes]
Cumulative
bytes [bytes]
Endian Sign extension
Unit Description Remarks
Big Little Yes No
Command
Header '!' 1 1  
Station 'XX(h)' 2 3  
Message ID '262(h)' 3 6  
Axis pattern 'XX(h)' 2 8   For the X-SEL-PX/QX/RX/SX series, specification of SCARA
axes is prohibited.
Speed 'XXXX(h)' 4 12   mm/sec
(Note 1) This does not take effect for the axes that are operated
with the CIR, ARC, PSPL, PUSH, ARCH, PACH, CIRS and
ARCS instructions of the SEL program.
(Note 2) If Speed Change is executed for the operation axis
that uses the S motion (SCRV instruction of SEL), "Error No.
CC1 Speed change condition error" occurs.
(Note 3) This is just a temporary speed change command for
the packet (point) operating as the main. The VEL declaration
data of the SEL program does not affect.
(Note 4) This takes effect only for the packet operating as the
main while the command is being executed, in relation to the
continuous motion packet point operation axis such as PATH of
the SEL program, so it is necessary to be aware of timing
deviation and other issues. It is also necessary to be aware of
locus deviation because packet handling is held during speed
change processing.
(Note 5) The upper limit of the home return completion
specification axis speed is clamped by the minimum value of
"Individual Axis Parameter No. 28 Individual Axis Operation
MAX Speed" or "Individual Axis Parameter No. 27 Motor MAX
Speed" of the home return completion specification axis and
the axis in related interpolation operation.
To prevent upper limit speed restrictions due to the effects of
other axes with slower MAX speeds than the speed change
specification speed, execute Speed Change for each group of
axes with a different MAX speed. Separate specification is
especially recommended for the rotary axes.
SC 'XX(h)' 2 14  
CR 0Dh 1 15  
LF 0Ah 1 16  
Normal
response
Header '#' 1 1  
Station 'XX(h)' 2 3  
Message ID '262(h)' 3 6  
SC 'XX(h)' 2 8  
CR 0Dh 1 9  
LF 0Ah 1 10  
Error
respon
se
Error response
format Refer to the error
response format.
10 10  
(Note 1) Add H (or h) at the end of each data expressed in hexadecimal notation. If there is no H or h at the end, the data is considered a decimal.
(Note 2) Data enclosed in single quotation marks indicates an ASCII code. Data is a hexadecimal ASCII code if (h) is added before the closing quotation mark, or a decimal ASCII code if (d) is
added before the closing quotation mark.