MC_MoveVelocity_SML (FB)¶
FUNCTION_BLOCK FINAL MC_MoveVelocity_SML
Commands a never ending controlled motion with a specified velocity.
Note
To stop the motion, the motion has to be interrupted by another motion command.
The output
InVelocity
is reset when the block is aborted by another block.
The following figure shows two examples of the combination of two instances
of MC_MoveVelocity_SML
:
The left part of the timing diagram illustrates the case if the second FB is started after the first one has reached the commanded velocity.
The right part of the timing diagram illustrates the case if the second FB is started before the first FB has reached the commanded velocity.

- InOut:
Scope
Name
Type
Comment
Inout
Axis
Reference to the axis
Input
Execute
BOOL
Rising Edge: The motion is started
Velocity
LREAL
Value of the commanded velocity (may be negative) (not necessarily reached) [u/s]
Acceleration
LREAL
Value of the acceleration (always positive) (increasing energy of the motor) [u/s²]
Deceleration
LREAL
Value of the deceleration (always positive) (decreasing energy of the motor) [u/s²]
Output
InVelocity
BOOL
Commanded velocity reached
Busy
BOOL
The motion is not finished and new output values are to be expected
CommandAborted
BOOL
The motion was interrupted by a motion command acting on the same axis
Error
BOOL
Signals that an error has occured
ErrorID
Error number