Specifications

7 - 4
7.3 Dedicated motion functions (CHGV, CHGT)
Speed change request: CHGV
Format Setting data Contents Result data type
(S1) Axis No. requesting for speed change
CHGV ((S1), (S2))
(S2) Designated speed
–
(1) The speed is changed with the following procedure.
1) The "speed change flag" (M2061 to M2092) corresponding to the axis
designated by (S1) is turned ON.
2) The speed of axis designated by (S1) is changed to the speed designated by
(S2).
3) The "Speed change flag" is turned OFF.
(2) The range of axis numbers set in (S1) is shown below.
Q172CPU Q173CPU
1 to 8 1 to 32
(3) The operation is performed as follows depending on the code of the designated
speed set in (S2).
Code of designated speed Operation
Positive Change of speed
0 Temporary stop
Negative Backward
(4) The range of designated speed set in (S2) is shown below.
1) Real mode
mm inch degree PULSE
Setting range Units Setting range Units Setting range Units Setting range Units
Speed change
request
0 to
600000000
× 10
–2
mm/min
0 to
600000000
× 10
–3
inch/min
0 to
2147483647
× 10
–3
degree/min
0 to
10000000
PLS/sec
Backward request
–1 to
–600000000
× 10
–2
mm/min
–1 to
–600000000
× 10
–3
inch/min
–1 to
–2147483647
× 10
–3
degree/min
–1 to
–10000000
PLS/sec
2) Virtual mode
PULSE
Setting range Units
Speed change
request
0 to
10000000
PLS/sec
Backward request
–1 to
–10000000
PLS/sec
(5) When the speed change is requested with a negative speed during start,
deceleration can be started at that point, and the axis returned in the reverse
direction upon completion of deceleration.
Program example
Program to change positioning speed of axis 2
CHGV (K2, K10)
Reverse program to change positioning speed of axis 1 to a negative value
CHGV (K1, K-1000)