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`	Axis_REF_SML	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`	SML_ERROR	Error number