Applied Motion RS-232 - Manual (Page 75)

75 920-0002 Rev. I
2/2013
Host Command Reference
FC - Feed to Length with Speed Change
Compatibility: All drives, though Q drives have added functionality (see below)
See also:
VC, VE, DC, DI, SD, WP commands
Executes a feed to length (relative move) with a speed change. Overall move distance and direction come from
the last DI command. Accel and decel are from AC and DE commands, respectively. Initial speed is VE. After the
motor has moved DC counts, the speed changes to VC. If DC is equal to or greater than DI, a speed change will
not occur.
Optionally, a parameter pair may be used with the FC command to designate a switch and polarity to use as a
trigger for the final move segment. If a switch parameter is used, the motor will change speed at the DC distance
and will maintain that speed until the input is triggered. Once this input condition is met, the drive will travel the
full DI distance and decelerate to a stop per the DE ramp. In this scenario, the overall move distance is the sum
of DC, DI and the distance between the DC change point and the point where the input is triggered. The overall
distance then, depends on the location of the trigger input.
Q drives only
With Q drives there may be multiple VCs and DCs per FC command, allowing for more complex, multi-velocity
moves. To make multi-velocity moves with more than one speed change, the WP (Wait Position) command is also
required. A sample sequence is shown in the Examples section below.
FC used without optional parameter
FC used with optional parameter
A
C
DE
VE
VC
DC
DI
(Velocity)
(Distance)
A
C
DE
VE
VC
DC DI
SWITCH
EVENT
(Velocity)
(Distance)