MC_MoveVelocity

Syntax

Definition:

FUNCTION_BLOCK MC_MoveVelocity
VAR_IN_OUT
    Axis           : Reference To  AXIS_REF;
END_VAR
VAR_INPUT
    Execute        : BOOL;
    Velocity       : LREAL;
    Acceleration   : LREAL;
    Deceleration   : LREAL;
    Jerk           : LREAL;
    BufferMode     : EBufferMode;
END_VAR
VAR_OUTPUT
    InVelocity     : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorId        : UDINT;
END_VAR

Inputs

Name	Type	Default	Description
Execute	BOOL		Trigger the command with rising edge.
Velocity	LREAL	#Invalid	Commanded velocity ([PosUnit]/s, the sign of this parameter determines the direction of movement).
Acceleration	LREAL	#Default	Maximum acceleration ([PosUnit]/s^2, positive)
Deceleration	LREAL	#Default	Maximum deceleration ([PosUnit]/s^2, positive)
Jerk	LREAL	#Default	Maximum jerk ([PosUnit]/s^3, positive)
BufferMode	EBufferMode	Aborting	Chronological sequence of the command

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

Outputs

Name	Type	Description
InVelocity	BOOL	Commanded velocity reached
Busy	BOOL	Function block is not finished and new output values are to be expected.
Active	BOOL	Function block has active control on the axis.
CommandAborted	BOOL	Command is aborted by another command.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier

Further information

The function block MC_MoveVelocity is used to start an endless travel with a specified velocity and direction. As soon as the specified constant velocity is reached, the InVelocity output is set, and the function block has completed its operation. The function block does not perform any further monitoring of the motion. If the command is aborted during the acceleration phase, the CommandAborted output or, in the event of an error, the Error output is set.

The motion can be paused using MC_Halt and MC_Stop, or it can be canceled by another motion command.

If a motion command with the input BufferMode = Tc3_Mc3Base.EBufferMode.Aborting is applied to a coupled slave axis, this causes the axis to be automatically decoupled, followed by the execution of the command.

Note on the migration from NC2 to MC3

Unlike the NC2 function block of the same name, the MC3 function block MC_MoveVelocity has a signed Velocity input. The sign indicates the direction of motion.

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6