Chapter 8 Motion Control Function
3. Velocity, Acceleration/Deceleration, Jerk override
(1) It is a function to conduct velocity, acceleration/deceleration and jerk override of the specified axis
(2) It can override velocity, acceleration/deceleration, jerk to absolute value using ContinuousUpdate input of the motion
function block in operation. When the operation motion function block is being executed, the operation to reflect changed
velocity and acceleration is performed by tuning Execute input On again by changing the velocity and acceleration after
turning ContinuousUpdate input of the motion function block On.
(3) For the execution of speed override operation at the rate on the current command speed, not an absolute value override
(MC_SetOverride) motion function block is used for the override.
- In case the value is 1.0, the current operating speed, acceleration/deceleration, jerk is the same as before.
- In case VelFactor value specified is 0.0, the axis comes to a stop, but it cannot be changed to ‘StandStil’ state.
- If AccFactor value is 0.0, the changed velocity value is immediately applied without acceleration/deceleration.
- If JerkFactor value is 0.0, the acceleration/deceleration rate is immediately applied, and therefore the command
velocity linearly accelerates/decelerates.
- The meaning of Factor value specified of override (MC_SetOverride) motion function block differs depending on
the override item value of common parameters.
0: percentage specified – Factor value operates at the rate on the current command speed
1: unit value specified – Factor value is an absolute unit specified value of the set item
(4) Motion function block
MC_SetOverride
AxisAxis
Enable Enabled
UINTUINT
BOOL BOOL
LREAL VelFactor
LREAL AccFactor
Busy BOOL
Error BOOL
ErrorID WORDLREAL JerkFactor
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