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IQ® Programmer Reference Manual
FC - Feed to Length with Speed Change
Compatibility:
See also:
All drives, though Q drives have added functionality (see below)
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.
(Velocity)
DE
AC
VE
VC
DC
(Distance)
DI
FC used without optional parameter
(Velocity)
SWITCH
EVENT
DE
AC
VE
VC
(Distance)
DC
DI
FC used with optional parameter
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