MC_MoveVelocity

With the MC_MoveVelocity FB, you command an endless motion at the specified speed. The motion is always executed jerk-limited with the constant set input ‘jerk’. This value is valid for both ‘acceleration’ and ‘deceleration’.

To stop the motion, the FB must be interrupted by another FB that sends a new command to the axis.

The ‘in_velocity’ output is reset when a falling edge is detected at the ‘Execute’ input or when the effect of the FB is ended due to commanding of another FB.

In conjunction with an MC_MoveSuperImposed FB, the ‘in_velocity’ remains TRUE.

Block diagram

MC_MoveVelocity 1:

Parameters of the FB

VAR_IN_OUT

 

Axis

AXIS_REF

Axis reference.

VAR_INPUT

 

Execute

BOOL

Start the motion at rising edge.

 

Velocity

LREAL

Value of the maximum velocity (always positive).

Range [1.0, 2147483647.0]
Default unit [1µm/s or 10-3 °/s]

 

Acceleration

LREAL

Value of the acceleration (always positive, increasing energy of the motor).

range [1.0, 2147483647.0]
Default unit [1mm/s2 or 1°/s2]

 

Deceleration

LREAL

Value of the deceleration (always positive, decreasing energy of the motor).

Range [1.0, 2147483647.0]
Default unit [1mm/s2 or 1°/s2]

 

Jerk

LREAL

Value of the Jerk (always positive).

Range [1.0, 2147483647.0]
Default unit [1m/s3 or 1000°/s3]

 

Direction

INT

Direction in which the movement is started:

1 positive direction

3 negative direction

4 current direction

VAR_OUTPUT

 

InVelocity

BOOL

Commanded velocity reached (first time reached).

 

CommandAborted

BOOL

Command is aborted by another command.

 

Error

BOOL

Indicates if an error has occurred.

 

ErrorID

WORD

Error identification.

Behavior of the FB