User Manual

Motion control is easy
10.5 Motion control instructions
Easy Book
230 Manual, 03/2014, A5E02486774-AF
Override response
The MC_MoveRelative task can be aborted
by the following motion control tasks:
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
The new MC_MoveRelative task aborts the
following active motion control tasks:
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
10.5.8
MC_MoveVelocity (Move axis at predefined velocity) instruction
Table 10- 20 MC_MoveVelocity instruction
LAD / FBD
SCL
Description
"MC_MoveVelocity_DB"(
Axis:=_multi_fb_in_,
Execute:=_bool_in_,
Velocity:=_real_in_,
Direction:=_int_in_,
Current:=_bool_in_,
InVelocity=>_bool_out_,
Busy=>_bool_out_,
CommandAborted=>_bool_out_,
Error=>_bool_out_,
ErrorID=>_word_out_,
ErrorInfo=>_word_out_);
Use the MC_MoveVelocity
instruction to move the axis
constantly at the specified velocity.
In order to use the
MC_MoveVelocity instruction, the
axis must first be enabled.
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_MoveVelocity_DB " is the name of the instance DB.
Table 10- 21 Parameters for the MC_MoveVelocity instruction
Parameter and type
Data type
Description
Axis IN TO_Axis_1 Axis technology object
Execute
IN
Bool
Start of the task with a positive edge (Default value: False)
Velocity IN Real Velocity specification for axis motion (Default value: 10.0)
Limit values: Start/stop velocity ≤ |Velocity| ≤ maximum velocity
(Velocity = 0.0 is allowed)