Omron Sysmac NY-series - MC_MoveVelocity

MC_MoveVelocity
The MC_MoveVelocity instruction performs velocity control with the Position Control Mode of the Ser-
vo Drive.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_MoveVelocity Velocity Con-
trol
FB
BufferMode
MC_Move
Velocity_instance
Jerk
Active
Axis Axis
Execute InVelocity
Velocity Busy
Deceleration
Error
Direction
Continuous
MC_MoveVelocity
Acceleration
CommandAborted
ErrorID
MC_MoveVelocity_instance (
Axis :=parameter,
Execute :=parameter,
V
elocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
Direction :=parameter,
Continuous :=parameter,
BufferMode :=parameter,
InVelocity =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range
De-
fault
Description
Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed
when the value of this variable
changes to TRUE.
Velocity Target Ve-
locity
LREAL Non-negative number 0 Set the target velocity.
The unit is command units/s.
*1
Acceleration Accelera-
tion Rate
LREAL Non-negative number 0 Specify the acceleration rate.
The unit is command units/s
2
.
*1
Deceleration Decelera-
tion Rate
LREAL Non-negative number 0 Specify the deceleration rate.
The unit is command units/s
2
.
*1
Jerk Jerk LREAL Non-negative number 0 Specify the jerk.
The unit is command units/s
3
.
*1
Direction Direction _eMC_DIREC-
TION
0: _mcPositiveDirection
2: _mcNegativeDirection
3: _mcCurrentDirection
0
*2
Specify the rotation direction.
0: Positive direction
2: Negative direction
3: Current direction
3 Axis Command Instructions
3-88
NY-series Motion Control Instructions Reference Manual (W561)