Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 123)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
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3.2.3 Feed Speed Change (VEL) Command
! Outline
This command changes the feed speed for each axis of positioning-related commands
(MOV, MVT, EXM).
! Detailed Explanation
The VEL command method is shown as follows:
According to the above command, the feed speed of each axis is changed. But that of
the undesignated axis is not changed.
• When the VEL command is not sent, the feed speed is determined by the setting
parameter [Feed Speed of Each Axis] and the setting data of the previous VEL
command.
• The speed changed by the VEL command is valid until being reset by the next VEL
command, or when an MVT command is sent.
• The VEL command cannot be used within the same block as the MOV command.
• A designating range of the VEL commands is as indicated below.
Supplement
According to the VEL command, the setting parameter OLxx22 Fast Feed Speed of each
axis is changed. Therefore, it is possible to program “OLxx22=xxxx” instead of the VEL
command.
Feed Speed
VEL [axis1]—[axis2]—...;
0 ~ 2
31
-1[10
n
command units/min]
n=number of decimal places