MC_MOVEVELOCITY

Function Description

The MC_MOVEVELOCITY function is used to execute an endless move command at a given speed. To use this function, the current axis state must be continuous or StandStill.

This block, in combination with the MC_STOP block can be used in manual mode.

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

LD Axis

CAL MC_MOVEVELOCITY_Instance(AXIS:=AXIS, EXECUTE:=EXEC, VELOCITY:=V, INVERT:=I, ERROR=>ERR, INVELOCITY=>IV, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID)

Representation in ST

Representation:

MC_MOVEVELOCITY_Instance(AXIS:=AXIS, EXECUTE:=EXEC, VELOCITY:=V, INVERT:=I, ERROR=>ERR, INVELOCITY=>IV, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID);

Description of the Input Parameters

The following table describes the input parameters that are in addition to the basic parameters:

Parameter	Type	Comment
VELOCITY	DINT	Speed value. For ICLA or ATV31 servodrives, the VELOCITY parameter is used as INT type.
INVERT	Bool	Direction of rotation. If INVERT is set to TRUE, the direction is the inverse of the VELOCITY sign. When INVERT is set to FALSE, the direction is that of the VELOCITY.

Description of the Output Parameters

The following table describes the output parameters that are in addition to the basic parameters:

Parameter	Type	Comment
INVELOCITY	BOOL	INVELOCITY is TRUE when the VELOCITY speed is reached; otherwise it remains set to FALSE.