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.
    • If the xContinuousUpdate input is set, the profile is recalculated if the lrVel , lrAcc , lrDec or lrJerk input is changed after the start.
  • 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 ä TRUE

Start continuous travel with the speed defined.

  • Cancellation of the function via the xAbort , xHalt or xQspApplication input.

xContinuousUpdate

BOOL

TRUE

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

Control input ContinuousUpdate

lrVel

LREAL

Velocity in [unit/s]

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

lrAcc

LREAL

Acceleration in [unit/s 2 ]

  • Specification of the maximum velocity variation which is to be used for acceleration.
  • Only values higher than 0 are permissible.

lrDec

LREAL

Deceleration in [unit/s 2 ]

  • Specification of the velocity variation which is to be used for maximum deceleration to standstill.
  • Only values higher than 0 are permissible.

lrJerk

LREAL

Jerk in [unit/s 3 ]

  • Only positive values permissible.
  • With the value 0, the jerk defined in the axis data (subindex 43 ) is used. If this jerk is not defined, linear ramps are used for traversing.

eDirection

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

The speed specified lrVel 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.