Sets the moving start speed (unit = pps) at the time of starting axis motion, or reads the current set value.  The moving start speed can be set as a global value, or set for each axis.


Applies to: CMD-4CR, CMD-4EX-SA, PMX-2ED-SA, PMX-2EX


ASCII/Standalone                LSPD                global low speed setting

                             LSPD[axis]        individual axis low speed setting


Applies to: PMX-4EX-SA, PMX-4ET-SA


ASCII                        LS                global low speed setting

LS[axis]        individual axis low speed setting              

Standalone                LSPD                global low speed setting

LSPD[axis]        individual axis low speed setting


For all examples below replace LSPD with LS for ASCII mode when working with a PMX-4EX-SA and PMX-4ET-SA.

Syntax:

Read:

LSPD[axis]

                       LS[axis]                * For PMX-4EX, and PMX-4ET ASCII mode only

Where:        [axis] is set to X, Y, Z, U, or not specified to read global value


Write:

                       LSPD[axis]=[lspd] 

                       LS[axis]=[lspd]         * For PMX-4EX, and PMX-4ET ASCII mode only

Where:        [axis] is set to X, Y, Z, U, or not specified to read global value

[lspd] is motion low speed (pps) with range of 1 – 6,000,000,            * [lspd] must be set lower than the HSPD value.

Reply 

Command is accepted and executed

Read:         

Value of LSPD, range of 1 – 6,553,500


Write:           

OK


Command cannot be processed

       An error message is returned. See Error Codes

Example: 

       Read:                LSPD                * returns the global value set for LSPD

       

Write:                LSPDZ=500        * sets motion low speed for Z axis to 500 pps

Notes:

  • LSPD and LSPD[axis] must be a positive value.  If a negative value is entered, the absolute value is used.  Example entering LSPD=-300 will set LSPD to 300.
  • LSPD and LSPD[axis] must be less then or equal to HSPD and HSPD[axis].
  • Individual low-speed settings will take priority over the global low-speed settings. A global low-speed setting will only be used when either one of the following conditions is true:


    1. The corresponding individual low-speed setting is defined as zero.
    2. An  interpolated motion is being performed.


In the example below, both the global speed settings and the individual speed setting for the X axis will be set.


HSPD=10000

HSPDX=2000

LSPD=300

LSPDX=200

ACCX=500

ACC=300

DEC=300


In this example, once a move command is issued the global speed settings for the low speed and deceleration, and the individual X-axis speed settings for the high speed, low speed and acceleration, will be used for motion.

  • StepNLoop
    • When StepNLoop is enabled and not making an interpolated move, low speed units are encoder counts per second.   
    • When StepNLoop is disabled or interpolated moves are commanded, the low speed units are pulse per second.
  • The minimum and maximum acceleration/deceleration values depend on the high-speed and low-speed settings. Refer to Speed Settings for details.

See also:

Motion Settings

HSPD, ACC, DEC, SCV, JKA, JKD 

Commander Manual

2.1.4 Motion Profile, Appendix B: Speed Settings,