MC_MoveVelocity

Functional Description

This function block performs a movement with a specified target velocity.

Graphical Representation

Inputs

Input	Data type	Description
Axis	Axis_Ref	Reference to the axis for which the function block is to be executed.
Execute	BOOL	Value range: FALSE, TRUE. Default value: FALSE. A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE. This function block can be restarted while it is executed. The target values are overwritten by the new values at the point in time the rising edge occurs.
Velocity	LREAL	Value range: -2147483648...2147483647 Default value: 0 Target velocity in user-defined units. Negative values for the target velocity invert the direction of the movement.
Acceleration	LREAL	Value range: A positive LREAL value Default value: 0 Acceleration in user-defined units. The value at this input is used to reach the specified target velocity (acceleration).
Deceleration	LREAL	Value range: A positive LREAL value Deceleration in user-defined units. Default value: -1 NOTE: If the default value of -1 presented at the input Deceleration is used as a signal that the parameter has not been modified and therefore, the value at the input Acceleration is also used for the deceleration.
Jerk	LREAL	Value range: A positive LREAL value and zero Positive values: Jerk limit (in units/s³) (maximum jerk with which the acceleration is modified). Zero: Jerk limit disabled. The acceleration jumps from zero to maximum acceleration (infinite jerk). Default value: 0
Direction	MC_Direction	Default value: PositiveDirection Direction of movement. Possible values: Value PositiveDirection Value NegativeDirection See MC_Direction for a description of the values.
BufferMode	MC_Buffer_Mode	Default value: Aborting Buffer mode. Possible values: Value Aborting Value Buffered Value BlendingLow Value BlendingPrevious Value BlendingNext Value BlendingHigh See MC_Buffer_Mode for a description of the values.
OperationMode	MC_OperationMode	Default value: Position Type of operation for this function block. Possible values: Value Position Value Velocity See MC_OperationMode for a description of the values.

Outputs

Output	Data type	Description
InVelocity	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Target value not reached. TRUE: Target value reached.
Busy	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Function block is not being executed. TRUE: Function block is being executed. NOTE: The output Busy remains TRUE even when the target velocity has been reached or Execute becomes FALSE. The output Busy is set to FALSE as soon as another function block such as MC_Stop is executed.
Active	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: The function block does not control the movement of the axis. TRUE: The function block controls the movement of the axis.
CommandAborted	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Execution has not been aborted. TRUE: Execution has been aborted by another function block.
Error	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Function block is being executed, no error has been detected during execution. TRUE: An error has been detected in the execution of the function block.
ErrorID	ET_Result	This enumeration provides diagnostics information.

Notes

The output Busy remains TRUE even if the target velocity has been reached or the input Execute is set to FALSE. The output Busy is set to FALSE as soon as another function block such as MC_Stop is executed.

If you use MC_MoveVelocity to move an axis continuously in the same direction and if the input OperationMode is set to Position, define this axis as modulo axis. Refer to Movement Range and Position Calculation With Floating-Point Numbers for additional information.

The function block can be used with two different operating modes. See data type MC_OperationMode for details.

Additional Information

PLCopen State Diagram