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

The moving start speed can be set as a global value, or set for each axis.


Access: Read/Write

Category: Motion

Applies to:  All Commander Controllers


ASCII/Standalone        LSPD                global low speed setting

                             LSPD[axis]        individual axis low speed setting


Syntax


Read

LSPD[axis]

       LS[axis] * 4EX and 4ED ASCII mode only

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


Write

       LSPD[axis]=[value] 

       LS[axis]=[value] *4EX and 4ED ASCII mode only

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

[value] 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.
  • Based on speed magnification resolution, actual speed can very from commanded speed by up to 0.1%. 


See also

Motion Settings

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


Commander Manual

Motion Profile 

Appendix B: Speed Settings