4. Motion Control Instructions 4.4.5. MC_MoveVelocity Explanation of the Instruction: MC_MoveVelocity is applied to control the terminal actuator to move at the given acceleration and deceleration and finally it moves at the constant speed when reaching the given velocity. The execution of this instruction is completed after the speed of terminal actuator reaches the given speed but terminal actuator will still keep moving at this speed. Explanation of input and output parameter of the instruction:
4-30 DVP-MC operating manual API Velocity instruction Controller 05 MC MoveVelocity _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Execute This instruction is executed when “Execute” turns Off -> On. BOOL M,I,Q, Constant Velocity The running speed of terminal actuator and it is always positive.(Unit: unit/second) REAL Constant, D Acceleration Acceleration of terminal actuator and this parameter is always positive.(Unit: unit/second2) REAL Constant, D Deceleration Deceleration of terminal actuator and this parameter is always positive.(Unit: unit/second2) REAL Constant, D Direction Direction for servo motor rotation 1:
positive direction; -1: negative direction; 2: keeps the current direction (The current rotation direction is positive when the motor stops.) INT Constant, D Invelocity “Invelocity” bit is on when servo motor reaches the target position; “Invelocity” bit is reset when “Execute” turns On Off. BOOL M,Q Abort When the execution of this instruction is interrupted before it reaches the target speed, "Abort" turns on; when “Execute” turns off, “Abort” is reset; when other instruction is executed after the velocity of this instruction reaches the given velocity, “Abort” of this instruction will not turn on. BOOL M,Q Error If any error is detected, "Error" turns on; when “Execution” BOOL M,Q