MCA_MoveVelocityContinuous (FB)

FUNCTION_BLOCK MCA_MoveVelocityContinuous

This function block commands a never ending controlled motion at a specified velocity.

The difference to function block MC_MoveVelocity is that the values for Velocity, Acceleration and Deceleration can be modified continuously. If there is a change of the velocity, the reaction on the signal InVelocity will be delayed for 1 cycle.

• To stop the motion, the function block has to be interrupted by another function block issuing a new command.

• The signal “InVelocity” is set when the commanded velocity equals the velocity input.

• Velocity, Acceleration, Deceleration and Jerk might be changed and will be used continuously

• In combination with MC_MoveSuperimposed, the output “InVelocity” stays TRUE once the velocity setpoint of the axis has reached the commanded velocity

Note

If there is no configuration done at the input Direction or Axis_Parameter.paraReverseDirection, by default movement will start in the counter clockwise direction.

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	Velocity	LREAL	[u/s] Value of the maximum velocity (not necessarily reached). Range: >0
	Acceleration	LREAL	[u/s°°2] Value of the acceleration (increasing energy of the motor). Range: >0. If value = 0, Acceleration will be equal to parameter paraMaxAccelerationAppl.If value > 0 and <= 1,Acceleration will be limited to 1.
	Deceleration	LREAL	[u/s°°2] Value of the deceleration (decreasing energy of the motor). Range: >0. If value = 0, Deceleration will be equal to parameter paraMaxDecelerationAppl.If value > 0 and <= 1,Deceleration will be limited to 1.
	Jerk	LREAL	[u/s°°3] Value of the jerk. Range: >=0
	Direction	MC_Direction	Direction input: Positive, Negative, otherwise use Current as default If there is no configuration done at input Direction or Axis_Parameter.paraReverseDirection, by default movement will start in counter clockwise direction
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	InVelocity	BOOL	Commanded velocity is reached
	Busy	BOOL	The function block is not finished
	Active	BOOL	Indicates that the function block has control on the axis
	CommandAborted	BOOL	Command is aborted by another command from other PLCopen function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
Inout	Axis	Axis_Ref	Reference to axis