Chapter 17 Motion control instructions
468 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
MC_MoveVelocity commands a never ending controlled motion at a specified
velocity.
MC_MoveVelocity operation
• If the MC_MoveVelocity function block DirectionIn input is equal to 0
and the axis is in a moving state, the sign of the Velocity input is ignored,
the axis continues to move in its current direction, and new dynamic
parameters are applied.
• If the MC_MoveVelocity function block DirectionIn input is equal to 0
and the axis is not in a moving state, the function block reports an error.
• If the PTO Pulse limit is reached during execution of the
MC_MoveVelocity function block, the PTO Accumulator value is rolled
over to 0 (or to the opposite Soft Limit if the limit is activated) and the
execution of the function block continues.
• If the axis is in a moving state, and the MC_MoveVelocity function block
issues a motion in which the direction (the sign of Velocity * Direction) is
the opposite of the current motion direction, the function block reports an
error.
• Once the signal 'InVelocity' is set, it indicates the MC_MoveVelocity
function block has completed. Any subsequent motion event has no effect
on the function block outputs except the signal 'InVelocity'.
• The InVelocity output of the MC_MoveVelocity function block stays True
once the Velocity of the axis reaches the commanded Velocity until the
function block is aborted.
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