Changing speed in Closed Loop Relative Position mode

4 months 1 week ago #29535313 by edmenard
I have an MDC-2460 that is using analog feedback, configured in Closed Loop Relative Position mode.
I am trying to change the speed during a motion, and am finding that when I increase the speed, the motor speed does increase. But the motor does not slow down when the velocity is decreased.

I also notice that if I change the target position while moving to move to/past the current position, that the new (slower) speed then takes effect. This seems to be the only way to decrease the speed for a current motion.

When is it possible to decrease the speed?
From the behavior, it seems like the new (slower) speed only takes effect when some set of conditions (loop error < N? destination reached?) are true?

I clearly don't understand something - can you point me in the right direction?
I've attached my script for reference.

Thanks,
--Ed
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