MC_MoveVelocity

VAR_INPUT

VAR_INPUT
    Execute      : BOOL;
    Velocity     : LREAL;
    Acceleration : LREAL;
    Deceleration : LREAL;
    Jerk         : LREAL;
    Direction    : MC_Direction;
ND_VAR

Execute : The command is executed with rising edge.

Velocity : Maximum velocity increase during travel (>0).

Acceleration : Acceleration (≥0). If the value is 0, the standard acceleration from the axis configuration in the System Manager is used.

Deceleration : Deceleration (≥0). If the value is 0, the standard deceleration from the axis configuration in the System Manager is used.

Jerk : Jerk (≥0). If the value is 0, the standard jerk from the axis configuration in the System Manager is used.

Direction : Direction for the motion.

VAR_OUTPUT

VAR_OUTPUT
    InVelocity     : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

InVelocity : Becomes TRUE once the target velocity is reached.

CommandAborted : Becomes TRUE, if the command could not be fully executed. The reason may be an error, a stop, or a superimposed travel command.

Error: Becomes TRUE, as soon as an error occurs.

ErrorID : Supplies the error number when the Error output is set.

VAR_IN_OUT

VAR_IN_OUT
    Axis : NCTOPLC_AXLESTRUCT;
END_VAR

Axis : Axis structure.

Requirements