MC_MoveVelocity

This FB serves to execute a continuous travel with defined velocity.

In order to stop the continuous travel, the command has to be aborted by another motion command or MC_Halt or MC_Stop .

		MC_MoveVelocity
AXIS_REF	-	Axis	InVelocity	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
BOOL	-	ContinuousUpdate	Active	-	BOOL
LREAL	-	Velocity	CommandAborted	-	BOOL
LREAL	-	Acceleration	Error	-	BOOL
LREAL	-	Deceleration	ErrorID	-	L_IE1P_Error
LREAL	-	Jerk
MC_DIRECTION	-	Direction
MC_BUFFER_MODE	-	BufferMode

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
Execute BOOL	FALSE ä TRUE	Start continuous travel.
ContinuousUpdate BOOL	Continuous acceptance of the profile parameters Control input ContinuousUpdate
FALSE	The profile parameters ( Velocity , Acceleration , ...) are accepted with a rising edge at Execute .
TRUE	The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change. Note: After reaching the final value ( InVelocity = TRUE), the profile parameters are continued to be accepted.
Velocity LREAL	Maximum velocity in [unit/s] at which the continuous travel is to be carried out. Negative velocity * Negative direction = Positive velocity
Acceleration LREAL	Maximum acceleration in [unit/s ² ] Special case : Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Deceleration LREAL	Maximum deceleration in [unit/s ² ] Special case : Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Jerk LREAL	Maximum jerk in [unit/s ³ ] Special case : Jerk = 0: The default value defined in subindex 43 is used for the jerk.
Direction MC_DIRECTION	Traversing direction: mcCurrentDirection: Maintain current direction (only in case of modulo axis) mcPositiveDirection: Positive direction mcNegativeDirection: Negative direction All other options are not allowed in the "MoveVelocity" operating mode.
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode

Name

Data type

Information/possible settings

Axis

AXIS_REF

Transfer of the axis data structure

Motion axes (AXIS_REF)

Execute

BOOL

FALSE ä TRUE

Start continuous travel.

ContinuousUpdate

BOOL

Continuous acceptance of the profile parameters

Control input ContinuousUpdate

FALSE

The profile parameters ( Velocity , Acceleration , ...) are accepted with a rising edge at Execute .

TRUE

The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.

Note: After reaching the final value ( InVelocity = TRUE), the profile parameters are continued to be accepted.

Velocity

LREAL

Maximum velocity in [unit/s] at which the continuous travel is to be carried out.

Negative velocity * Negative direction = Positive velocity

Acceleration

LREAL

Maximum acceleration in [unit/s ² ]

Special case :

Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Deceleration

LREAL

Maximum deceleration in [unit/s ² ]

Special case :

Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Jerk

LREAL

Maximum jerk in [unit/s ³ ]

Special case :

Jerk = 0: The default value defined in subindex 43 is used for the jerk.

Direction

MC_DIRECTION

Traversing direction:

mcCurrentDirection: Maintain current direction (only in case of modulo axis)

mcPositiveDirection: Positive direction

mcNegativeDirection: Negative direction

All other options are not allowed in the "MoveVelocity" operating mode.

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Outputs

Name Data type	Value/meaning
InVelocity BOOL	TRUE	Defined velocity has been reached. The InVelocity state is reset if the command is replaced by another command. In combination with the MC_MoveSuperimposed command, this output is set as long as the contribution of this command for setpoint speed equals the instructed velocity for the continuous travel.
Busy BOOL	TRUE	Processing is running.
Active BOOL	TRUE	The command of the FB is currently executed. The Active output matters if a motion control is carried out by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was aborted by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.

In the following example, two FB instances of MC_MoveVelocity are connected in series as a cascade.

Case

: FB2 is started (by setting Next to TRUE), after FB1 has reached it commanded velocity.

Case

: FB2 is started (by setting Test to TRUE) before FB1 has reached its commanded velocity.

In both cases, the FB2 aborts the execution of FB1 and decelerates the axis to the commanded velocity "2000".

Example: Linking two MC_MoveVelocity commands