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8-14
8.1 Positioning Function Dedicated Instruction
8.1.8 IPSPCHG instruction
IPSPCHG1, IPSPCHG2
8.1.8 IPSPCHG instruction
IPSPCHG1, IPSPCHG2
Function
This instruction changes the speed of the specified axis (refer to the following) using the
acceleration/deceleration time at speed change, deceleration stop time at speed change, and
new speed value stored in the devices starting from .
• IPSPCHG1(P): Axis 1
• IPSPCHG2(P): Axis 2
Control Data
IPSPCHG1(P)
IPSPCHG2(P)
P: Executing condition
:
indicates any of the following
instructions.
IPSPCHG1 IPSPCHG1P
IPSPCHG2 IPSPCHG2P
Input argument
EN:
Executing condition :Bit
s:
Start number of the device in which the control data are stored:Array of ANY16 [0..3]
Output argument
ENO:
Execution result :Bit
Setting
data
Internal device
R, ZR
J\
U\G
Zn Constant Others
Bit Word Bit Word
Device Item Setting data Setting range Setting side
[0]
Acceleration/deceleration time at speed
change
0 to 32767 (ms)
User
[1]
Deceleration stop time at speed change
[2]
New speed value
0 to 200000
(pulse/s)
*1
[3]
*1: The restricted speed value may be applied when the set value of the new speed is not within 0 to 200000.
LCPU
ST
IPSPCHG1
EN ENO
s
IPSPCHG1
(EN, s);ENO:=
Structured ladder/FBD
s
s
s
s
s
s