Chapter 8 Motion Control Function
8.2.2 Single-axis Speed Control
Execution is made by motion function block(「Specified velocity operation (MC_MoveVelocity)」), and operation is performed at the
set velocity until stop condition is inputted.
1. Features of Control
(1) Speed control operation of the specified axis is executed using specified velocity and acceleration/deceleration.
The velocity control is executed through a method to transmit the target position value that corresponds to the
target velocity using position control of servo drive.
(2) In direction input, the direction to operate is specified.
(However, the forward direction is based on the operating direction specified with the target velocity (Velocity)
input. For example, if a negative value is specified in target velocity (Velocity) value, and reverse direction
in direction (Direction) input, the axis is finally operated in forward direction.)
■ Setting value: 1-Forward, 2-Reverse, 3-Curent direction
(3) Negative number can be set for target velocity (Velocity) input value. In case the target velocity setting value is negative
number, operating direction becomes the opposite direction of the previously specified direction.
■ Forward operation
- Velocity > 0, Direction=1: Forward
- Velocity < 0, Direction=2: Reverse
■ Reverse operation
(4) After reaching the target velocity, InVelocity output of the function block is On (On). If there is a pending
command, the pending command is executed after InVelocity output is On.
(5) The speed control which is currently being executed is stopped with halt (MC_Halt) or immediate stop
(MC_Stop) motion function block.
2. Relevant motion function block
Specified velocity
operation
MC_MoveVelocity
AxisAxis
Execute InVelocity
UINTUINT
BOOL BOOL
BOOL ContinuousUpdate
LREAL Velocity
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
LREAL Acceleration
Active BOOL
LREAL Deceleration
LREAL Jerk
UINT Direction
UINT BufferMode
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