Allen-Bradley Micro800

Motion control instructions Chapter 17
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015 469
• The sign of (Velocity * Direction) determines the motion direction for a
MC_MoveVelocity function block. If the Velocity sign and the Direction
sign are the same, positive motion is issued. If the Velocity sign and the
Direction sign are different, negative motion is issued.
• The signal 'InVelocity' is reset when the MC_MoveVelocity is aborted by
another function block/Motion event, or at the falling edge of 'Execute'.
• To stop or change the motion initiated by the MC_MoveVelocity function
block, the function block must be interrupted or aborted by another
function block, which includes executing the MC_MoveVelocity function
block again with different parameters.
• If the MC_MoveVelocity function block is issued with the axis state in
StandStill (not controlled by another function block) and a function block
error occurs, the axis state goes to ErrorStop.
Arguments
Parameter Parameter type Data type Description
EN Input BOOL Function block enable.
When EN = TRUE, execute current MC_MoveVelocity computation.
When EN = FALSE, there is no computation.
Applies only to LD programs.
AxisIn Input AXIS_REF See also AXIS_REF data type on page 442.
Execute Input BOOL When TRUE, starts the motion at rising edge.
Velocity Input REAL Value of the maximum velocity [u/s].
Acceleration Input REAL Value of the acceleration (increasing energy of the motor) [u/s
2
]
Deceleration Input REAL Value of the deceleration (decreasing energy of the motor) [u/s
2
]
Jerk Input REAL Value of the Jerk [u/s
3
]
DirectionIn Input SINT The valid values are: -1, 0, 1.
BufferMode Input SINT This parameter is not used.
ENO Output BOOL Enable out.
Applies only to LD programs.
Axis Output AXIS_REF Axis output is read-only in LD programs.
See also AXIS_REF data type on page 442.
InVelocity Output BOOL When TRUE, commanded velocity was reached (first time).
Busy Output BOOL When TRUE, the function block is not finished.
Active Output BOOL When TRUE, indicates that the function block has control on the axis.
Direction Output SINT The valid values are: -1, 0, 1.
CommandAborted Output BOOL When TRUE, command was aborted by another command, or Error Stop.
Error Output BOOL When TRUE, an error was detected.
ErrorID Output UINT Error identification.
See also Motion control function block error IDs on page 440.