MC_MoveVelocity command
MC_MoveVelocity commands an endless motion at the specified velocity. The motion is always executed jerk-limited at the constant set in "Jerk”. This value is valid for both "Acceleration" and "Deceleration".
If the optional parameters “Acceleration", "Deceleration” and “Jerk” are not specified or set to ≤ 0, the dynamic values are taken from the corresponding axis list.
To stop the motion, the command must be interrupted by another command that sends a new command to the axis.
In conjunction with an MC_MoveSuperImposed command, the "InVelocity" output remains TRUE.
Optionally, the program can wait for the job to end (“WaitSyn” keyword) or can assign a Job ID (“Id” keyword) for later synchronisation.
Syntax of the NC command: |
<axis_name>[ MC_MoveVelocity Velocity=.. [Acceleration=..] [Deceleration=..] |
Block diagram of the function block in PLCopen:
Input pin | Unit |
|
Velocity | [1 µm/s or 10-3 °/s] | |
Acceleration | [1 mm/s2 or 1°/s2] | |
Deceleration | [1 mm/s2 or 1°/s2] | |
Jerk | [1 mm/s3 or 1°/s3] | |
Direction | 1 positive direction 3 negative direction 4 current direction |
Programing Example
MC_MoveVelocity command
S[MC_MoveVelocity Velocity=1333 Acceleration=770 Deceleration=880 \
Jerk=10000 Direction=1]