Chapter 11 Motion Control Instructions
11-11
When Pwr_EnPs is TRUE and Vel _Ex changes to TRUE for the second time, Vel _Bsy changes
to TRUE; one cycle later, Vel _Act changes to TRUE and the servo motor starts moving in the
positive direction. When the servo motor reaches the target velocity, Vel _Invel changes to
TRUE.
When Pwr_EnPs changes to FALSE, MC_Velocity instruction is aborted and the servo motor
begins to decelerate its speed at the deceleration rate specified by MC_Velocity instruction.
When the velocity is decreased to 0, CommandAborted changes to TRUE.
When Vel _Ex changes to FALSE, Vel _Abt changes to FALSE.
When Pwr_En changes to FALSE, Pwr_Sta change to FALSE after the axis is disabled.
Programming Example 2
The example of Vel _BM =0
When the value of Vel _BM is set to 0 and Pwr_En changes from TRUE to FALSE, the axis will enter
the Disabled state and the velocity will be decreased to 0 immediately.
1. The variables and program
Pwr_En BOOL FALSE
Vel _Act BOOL
Vel _ErrID WORD
Stp _Abt BOOL
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