Chapter 11 Motion Control Instructions
11-27
2. Motion Curve and Timing Chart
When Vel1_Ex changes from FALSE to TRUE, Vel1_Bsy changes to TRUE. One cycle later,
Vel1_Act changes to TRUE and the first MC_MoveVelocity instruction starts being executed.
When the target velocity is not reached, Vel2_Ex changes from FALSE to TRUE and Vel2_Bsy
changes to TRUE. One cycle later, Vel2_Act changes to TRUE, the first MC_MoveVelocity
instruction is aborted, Vel1_Abt changes to TRUE and the axis starts to perform the second
MC_MoveVelocity instruction. When the target velocity is reached, Vel2_Invel changes to
TRUE and meanwhile, Vel2_Bsy and Vel2_Act remain TRUE.
When Vel1_Ex changes from TRUE to FALSE, Vel1_Abt changes to FALSE. When Vel2_Ex
changes from TRUE to FALSE, Vel2_Invel, Vel2_Bsy and Vel2_Act remain TRUE.
Vel1_Ex
Vel1_Invel
Vel1_Bsy
Vel1_Act
Vel1_Ab t
Vel1_Err
Vel1
600
Velocity
Time
200
Vel2_Ex
Vel2_Invel
Vel2_Bsy
Vel2_Act
Vel2_Ab t
Vel2_Err
Vel2
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