MoveVelocity (endless traversing at a defined velocity)

This status enables continuous traversing according to the specifications.

In the "MoveVelocity" status, the following actions are carried out:

Creation of the motion profile for the "MoveVelocity" function.

Ramps, velocity and adoption of the direction of rotation are accepted after Execute; velocity control.

The axis moves until the state has been exited again.

If the reference is known an the software limit positions are activated, a positioning to the corresponding software limit position is carried out if the continuous travel was not completed before. The drive brakes with the set deceleration to the position of the corresponding software limit position.

If the reference is not known or the software limit positions are not activated, the axis will only stop at the hardware limit switch (target: Ramping down with "ErrorStop" deceleration).

Inputs for this operating mode

Name Data type	Information/possible settings
xMoveVelExecute BOOL	FALSE Ã¤ TRUE	Start continuous travel with the speed defined. Abort of the function via the xAxisStop input.
xContinuousUpdate BOOL	TRUE	The inputs lrSetVel, lrSetAcc,lrSetDec and lrsetJerk are cyclically checked for changes and accepted, Control input ContinuousUpdate
lrSetVel LREAL	Velocity in [unit/s] Selection of the maximum speed at which continuous travel is to be executed. Negative velocity * Negative direction = Positive velocity
lrSetAcc LREAL	Acceleration in [unit/s ² ] Specification of the maximum velocity variation which is to be used for acceleration. Only positive values permissible.
lrSetDec LREAL	Deceleration in [unit/s ² ] Specification of the velocity variation which is to be used for maximum deceleration to standstill. Only positive values permissible.
lrSetJerk LREAL	Jerk in [unit/s ³ ] Only positive values permissible. If this input is not assigned, the jerk defined in the axis data is used.
eSetDirection 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.

Name

Data type

Information/possible settings

xMoveVelExecute

BOOL

FALSE Ã¤ TRUE

Start continuous travel with the speed defined.

Abort of the function via the xAxisStop input.

xContinuousUpdate

BOOL

TRUE

The inputs lrSetVel, lrSetAcc,lrSetDec and lrsetJerk are cyclically checked for changes and accepted,

Control input ContinuousUpdate

lrSetVel

LREAL

Velocity in [unit/s]

Selection of the maximum speed at which continuous travel is to be executed.

Negative velocity * Negative direction = Positive velocity

lrSetAcc

LREAL

Acceleration in [unit/s ² ]

Specification of the maximum velocity variation which is to be used for acceleration.

Only positive values permissible.

lrSetDec

LREAL

Deceleration in [unit/s ² ]

Specification of the velocity variation which is to be used for maximum deceleration to standstill.

Only positive values permissible.

lrSetJerk

LREAL

Jerk in [unit/s ³ ]

Only positive values permissible.

If this input is not assigned, the jerk defined in the axis data is used.

eSetDirection

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.

Outputs for this operating mode

Name Data type	Value/meaning
lrActPos LREAL	Current position in [unit]
lrActVel LREAL	Current velocity in [unit/s]
lrSetVelOut LREAL	Setpoint velocity in [unit/s]
xConstantVelocity BOOL	TRUE	Specified velocity lrSetVel has been reached for the first time.
xAccelerating BOOL	TRUE	Axis is accelerated. (Increase in the speed value.)
xDecelerating BOOL	TRUE	Axis is decelerated/braked. (Decrease in the speed value.)
xDirectionPositive BOOL	TRUE	Axis traverses in positive direction.
xDirectionNegative BOOL	TRUE	Axis traverses in negative direction.
xInPosition BOOL	TRUE	Target position reached The behaviour of the output can be parameterised via the parameters in the Axis Ref subindex 130 and 131.