MC_MoveVelocity, MCP_MoveVelocity –  Move with constant velocity

Block SymbolsLicensing group: MOTION CONTROL
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Function Description

The MC_MoveVelocity and MCP_MoveVelocity blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_MoveVelocity block changes axis velocity to specified value as fast as possible and keeps the specified velocity until the command is aborted by another block or event.

Note: parameter Direction enumerate also shortest_way although for this block it is not valid value.

Inputs

uAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

Execute

The block is activated on rising edge

Bool

Velocity

Maximal allowed velocity [unit/s]

Double (F64)

Acceleration

Maximal allowed acceleration unit/s2]

Double (F64)

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

Direction

Direction of movement (cyclic axis or special case only)

Long (I32)

1 ....

Positive

2 ....

Shortest

3 ....

Negative

4 ....

Current

BufferMode

Buffering mode

Long (I32)

1 ....

Aborting (start immediately)

2 ....

Buffered (start after finish of previous motion)

3 ....

Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

4 ....

Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

5 ....

Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity)

6 ....

Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)

Outputs

yAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

InVelocity

Requested velocity reached

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

Example

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