If the LM628 or LM629 velocity mode is programmed and motion is initiated, can the motor velocity be changed at any time?

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If the LM628 or LM629 velocity mode is programmed and motion is initiated, can the motor velocity be changed at any time?

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The velocity can be changed on the fly, but you cannot program a negative value for velocity. You can program a lower value than the previous value. The motor is accelerated or decelerated at the max accelaration rate until the new velocity is reached.

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