Allen-Bradley Micro800 General Instructions Manual page 469

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Arguments
Parameter Parameter type
EN Input
AxisIn Input
Execute Input
Velocity Input
Acceleration Input
Deceleration Input
Jerk Input
DirectionIn Input
BufferMode Input
ENO Output
Axis Output
InVelocity Output
Busy Output
Active Output
Direction Output
CommandAborted Output
Error Output
ErrorID Output
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
The sign of (Velocity * Direction) determines the motion direction for a
MC_MoveVelocity function block. If the Velocity sign and the Direction
sign are the same, positive motion is issued. If the Velocity sign and the
Direction sign are different, negative motion is issued.
The signal 'InVelocity' is reset when the MC_MoveVelocity is aborted by
another function block/Motion event, or at the falling edge of 'Execute'.
To stop or change the motion initiated by the MC_MoveVelocity function
block, the function block must be interrupted or aborted by another
function block, which includes executing the MC_MoveVelocity function
block again with different parameters.
If the MC_MoveVelocity function block is issued with the axis state in
StandStill (not controlled by another function block) and a function block
error occurs, the axis state goes to ErrorStop.
Data type Description
BOOL Function block enable.
When EN = TRUE, execute current MC_MoveVelocity computation.
When EN = FALSE, there is no computation.
Applies only to LD programs.
AXIS_REF See also AXIS_REF data type
BOOL When TRUE, starts the motion at rising edge.
REAL Value of the maximum velocity [u/s].
REAL Value of the acceleration (increasing energy of the motor) [u/s
REAL Value of the deceleration (decreasing energy of the motor) [u/s
REAL Value of the Jerk [u/s
SINT The valid values are: -1, 0, 1.
SINT This parameter is not used.
BOOL Enable out.
Applies only to LD programs.
AXIS_REF Axis output is read-only in LD programs.
See also AXIS_REF data type
BOOL When TRUE, commanded velocity was reached (first time).
BOOL When TRUE, the function block is not finished.
BOOL When TRUE, indicates that the function block has control on the axis.
SINT The valid values are: -1, 0, 1.
BOOL When TRUE, command was aborted by another command, or Error Stop.
BOOL When TRUE, an error was detected.
UINT Error identification.
See also Motion control function block error IDs
Motion control instructions
on page 442.
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on page 442.
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Chapter 17
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