MC_MoveVelocity

With MC_MoveVelocity, 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 command must be interrupted by another command that sends a new command to the axis.

In conjunction with an MC_MoveSuperImposed the output "in_velocity" remains TRUE.

NC command: 

<axis_name>[ MC_MoveVelocityVelocity=<expr> Acceleration=<expr> Deceleration=<expr>
Jerk=<expr> Direction=<expr>]

Block diagram in PLCopen:

Input pin

Unit

MC_MoveVelocity 1:

Velocity

[1µm/s or 10-3 °/s]

Acceleration

[1mm/s2 or 1°/s2]

Deceleration

[1mm/s2 or 1°/s2]

Jerk

[1m/s3 or 1000°/s3]

Direction

1 positive direction

3 negative direction

4 current direction

Programming example

S[MC_MoveVelocity Velocity=1333  Acceleration=770  Deceleration=880
  Jerk=99  Direction=1]