MC_MoveVelocity
|
Application: |
PLC |
SIM |
Short description:
This Function Block commands a never ending controlled motion at a specified velocity.
Inputs (8):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
B |
yes | Execute | Start the action at rising edge |
| 2 | B | no | ContinuousUpdate | |
| 3 | REAL | no | Velocity | Value of the maximum ‘Velocity’ (not necessarily reached) [u/s] |
| 4 | REAL | no | Acceleration | Value of the ‘Acceleration’ (always positive) (increasing energy of the motor) [u/s2 ] |
| 5 | REAL | no | Deceleration | Value of the ‘Deceleration’ (always positive) (decreasing energy of the motor) [u/s2 ] |
| 6 | REAL | no | Jerk | Value of the ‘Jerk’ [u/s3 ]. (always positive) |
| 7 | INT | no | Direction | Enum type (1-of-4 values: mcPositiveDirection, mcShortestWay, mcNegativeDirection, mcCurrentDirection) |
| 8 | INT | no | BufferMode | Defines the chronological sequence of the FB. See 2.4.2 ‘Aborting versus Buffered modes’ |
Outputs (6):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
B |
no |
InVelocity |
Commanded velocity reached |
| 2 | B | no | Busy | The FB is not finished and new output values are to be expected |
| 3 | B | no | Active | Indicates that the FB has control on the axis |
| 4 | B | no | CommandAborted | ‘Command’ is aborted by another command |
| 5 | B | no | Error | ‘Signals that an error has occurred within the Function Block |
| 6 | INT | no | ErrorID | Error identification |
Settings:
|
no. |
type |
mark |
notes |
| 1 | INT | AxisID | associated axis number |
Operation description:
Notes:
- To stop the motion, the FB has to be interrupted by another FB issuing a new command
- The signal ‘InVelocity’ has to be reset when the block is aborted by another block.
- Negative velocity * negative direction = positive velocity
- In combination with MC_MoveSuperimposed, the output ‘InVelocity’ is SET as long as the contribution of this FB (MC_MoveVelocity) to the set velocity is equal to the commanded velocity of this FB.
R registers and M markers used: none