Gets/sets the high speed moving [value] for [axis].

Access: Read/Write

Category: Motion

Applies to: All Commander Controllers

ASCII/Standalone        HSPD                global  high speed setting

                             HSPD[axis]        individual axis high speed setting


Standalone                HSPD                global  high speed setting

HSPD[axis]        individual axis high speed setting


Syntax:

Read:

HSPD[axis]

       HS[axis]                * For CMD-4EX and CMD-4ET ASCII mode only

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


Write:

       HSPD[axis]=[hspd] 

       HS[axis]=[hspd]         * For CMD-4EX and CMD-4ET ASCII mode only

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

[hspd] is motion high speed (pps) with range of 1 – 6,553,500,            * [hspd] must be set higher than the LSPD value.

Reply 

Command is accepted and executed

Read         

Value of HSPD, range of 1 – 6,553,500

Write           

OK

Command cannot be processed

       An error message is returned. See Error Codes

Example 

Read:        HSPDX                * returns the value set for HSPD for the X axis        

Write        HSPDZ=50000        * sets motion high speed for Z axis to 50,000 pps

Notes

  • HSPD must be larger then 0.
  • HSPD and HSPD[axis] must be a positive value.  If a negative value is entered, the absolute value is used.  Example entering HSPD=-1000 will set HSPD to 1000.
  • HSPD and HSPD[axis] must be greater then or equal to LSPD and LSPD[axis].
  • Individual high-speed settings will take priority over the global high-speed settings. A global high-speed setting will only be used when either of the following conditions is true:
    1. The corresponding individual high-speed setting is defined as zero.
    2. An interpolated motion is being performed.

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


HSPD=10000

HSPDX=2000

LSPD=300

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, as well as the individual X-axis speed settings for the high speed and acceleration,  will be used for motion.

  • StepNLoop
    • When StepNLoop is enabled and not making an interpolated move, high speed units are encoder counts per second.   
    • When StepNLoop is disabled or interpolated moves are commanded, the high 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.
  • Only in V127 firmware for CMD-4CR and CMD-4EX, the SSPDM[axis] Speed Range setting must be set to accommodate the desired speed value, or set to 0 for automatic setting.  See SSPDM – Speed Range for more information.
  • Based on speed magnification resolution, actual speed can very from commanded speed by up to 0.1%. 
  • Sometimes it is not possible to reach the high speed requested by the high speed command based on the acceleration, deceleration times and distance commanded.  In the S-curve mode, the CMD-4CR and CMD-4EX will automatically calculate a new HSPD, which is only used for that move and allows for the quickest and smoothest possible move for the requested acceleration, deceleration times and distance commanded.


See also

Motion Settings

ACC, DEC, JKA, JKD, LSPD, PS, SCV, SSPDM

Commander Manual

Motion Profile 

Appendix B: Speed Settings