MC_MoveVelocity (FB)¶

FUNCTION_BLOCK MC_MoveVelocity

This function block causes an endless motion at a specified velocity.

Example

Use of MC_MoveVelocity

The following illustration shows how two instances (First and Second) of the function block MC_MoveVelocity are combined. In the left-hand part of the illustration the Second instance is called after the First instance. If First achieves the specified velocity 3000, then the First output InVelocity is ANDed with the Next signal. This causes Second to move at velocity 2000.

In the right-hand part of the illustration the execution is started by First, which aborts the previously executed Second instance and therefore the output InVelocity of the Second instance is set to False. Although First is still accelerating in order to reach velocity 3000, it is interrupted and aborted because the Test signal starts the execution of Second. Now Second will decelerate the velocity to 2000 after which the InVelocity of the Second instance is set to TRUE.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3		Reference to axis
Input	Execute	BOOL		TRUE: Starts execution.
	Velocity	LREAL		Maximum velocity in techincal units per second [u/s]. Is always positive.
	Acceleration	LREAL		Acceleration in [u/s²]. Is always positive. Increasing motor energy
	Deceleration	LREAL		Deceleration in [u/s²]. Is always positive. Decreasing motor energy
	Jerk	LREAL		Maximum magnitude of jerk in [u/s³]
	Direction	MC_Direction	current	The direction of the movement. Only current, positive, and negative are allowed.
	BufferMode	MC_BUFFER_MODE		Defines the chronological sequence of the FB relative to the previous block. If the function block is Busy, then only BufferMode=Aborting is allowed.
Output	InVelocity	BOOL		TRUE: The set velocity has been reached for the first time.
	Busy	BOOL		TRUE: Function block is in operation.
	Active	BOOL		Indicates that the FB has control on the axis
	CommandAborted	BOOL	FALSE	TRUE: Execution has been interrupted by another function block instance operating on the axis.
	Error	BOOL		TRUE: Error has occurred.
	ErrorID	SMC_ERROR		Error identification