MC_MoveVelocity

MC_MoveVelocity - General Information

Overview

Type:	Function Block
Available as of:	1.0.5.0
Versions:	current version

Task

The axis is to be moved endlessly (at a constant velocity).

Description

The axis is moved relatively using the SystemInterface.FC_PosStartJerk function.

Interface

Input	Data type	Description
Axis	SystemConfigurationItf.IF_Drive	The axis that is to be moved.
Execute	BOOL	Starts the motion in the case of a rising edge
Velocity	LREAL	Velocity of the motion
Acceleration	LREAL	Acceleration of the motion
Deceleration	LREAL	Deceleration of the motion
Jerk	LREAL	Jerk of the motion
Direction	MC_Direction	Direction in which the motion is to be performed. Possible values: 1 POSITIVE_DIRECTION 2 NEGATIVE_DIRECTION

Output	Data type	Description
InVelocity	BOOL	The requested velocity is reached.
Busy	BOOL	The function block is not finished and new outputs are still pending.
CommandAborted	BOOL	The motion has been cancelled.
Error	BOOL	Signalizes a detected error within the function block
ErrorId	DWORD	Error identification
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Busy	1	The order is executed.
OK	CommandAborted	9	The action was canceled.
OK	InVelocity	6	The target velocity has been reached.
OK	Ok	0	Ok
DriveConditionInvalid	DriveNotReady	70	The drive is not ready for motion commands.
ExecutionAborted	PLCopenTransition	49	PLCopen transition is not permitted.
InputParameterInvalid	AccelerationRange	53	Acceleration is outside the valid range.
InputParameterInvalid	AxisInvalid	25	The connected drive is not supported.
InputParameterInvalid	DecelerationRange	54	Deceleration is outside the valid range.
InputParameterInvalid	DriveInvalid	26	The connected drive is invalid.
InputParameterInvalid	DriveNotInitialised	27	The connected drive is not initialized.
InputParameterInvalid	JerkRange	62	Jerk is outside the valid range.
InputParameterInvalid	VelocityRange	52	Velocity is outside the valid range.
SercosConditionInvalid	SercosNotInPhaseFour	43	The bus is not in phase 4.
UnexpectedProgramBehavior	PositionRange	68	Position is outside the valid range.
UnexpectedProgramBehavior	UnexpectedFeedback	10	An unintended detected error occurred during execution.

AccelerationRange

Enumeration name:	AccelerationRange
Enumeration value:	53
Description:	Acceleration is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input Acceleration.	A value greater than 0 and smaller than MaxAcc of the drive must be transferred at the input Acceleration.

AxisInvalid

Enumeration name:	AxisInvalid
Enumeration value:	25
Description:	The connected drive is not supported.

Issue	Cause	Solution
-	No drive has been applied at the input Axis.	A valid drive must be transferred to the input Axis.

Busy

Enumeration name:	Busy
Enumeration value:	1
Description:	The order is executed.

The endless feed of the axis is started.

CommandAborted

Enumeration name:	CommandAborted
Enumeration value:	9
Description:	The action was canceled.

The job was cancelled.

DecelerationRange

Enumeration name:	DecelerationRange
Enumeration value:	54
Description:	Deceleration is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input Deceleration.	A value greater than 0 and smaller than MaxAcc of the drive must be transferred to the input Deceleration.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	26
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	The drive connected at the input Axis does not support all required functionalities.	The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface. The drive must support the SystemConfigurationItf.IF_RefActualValuesVelocity interface. The drive must support the interface SystemConfigurationItf.IF_Limits. The drive must support the interface SystemConfigurationItf.IF_JobBuffer. The drive must support the SystemConfigurationItf.IF_ControllerStop interface.

Issue

Cause

Solution

The drive connected at the input Axis does not support all required functionalities.

The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface.

The drive must support the SystemConfigurationItf.IF_RefActualValuesVelocity interface.

The drive must support the interface SystemConfigurationItf.IF_Limits.

The drive must support the interface SystemConfigurationItf.IF_JobBuffer.

The drive must support the SystemConfigurationItf.IF_ControllerStop interface.

DriveNotInitialised

Enumeration name:	DriveNotInitialised
Enumeration value:	27
Description:	The connected drive is not initialized.

Issue	Cause	Solution
-	The function FC_DriveInit was not activated for the drive at the input Axis.	Before using the POU, the drive must be initialized using the function FC_DriveInit.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	70
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis on the input Axis is not in position control.	Verify the state of the axis.

InVelocity

Enumeration name:	InVelocity
Enumeration value:	6
Description:	The target velocity has been reached.

The axis is moving with a specified continuous velocity.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	62
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input Jerk.	A value greater than 0 must be transferred at the input Jerk.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The POU is waiting for jobs.

PLCopenTransition

Enumeration name:	PLCopenTransition
Enumeration value:	49
Description:	PLCopen transition is not permitted.

Issue	Cause	Solution
-	During job submission the axis is not in PLCopen state MC_Standstill, MC_DiscreteMotion, MC_SynchronizedMotion or MC_ContinuousMotion.	It must be made sure that the axis is in a valid PLCopen state when the POU is enabled.

PositionRange

Enumeration name:	PositionRange
Enumeration value:	68
Description:	Position is outside the valid range.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	43
Description:	The bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	10
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

VelocityRange

Enumeration name:	VelocityRange
Enumeration value:	52
Description:	Velocity is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input Velocity.	A value greater than 0 and smaller than MaxVel of the drive must be transferred at the input Velocity.