Delta AX Series Instruction Manual page 66

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
Specify the
Axis
axis.
*Note: AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
Function

The instruction performs speed control with specified target velocity (Velocity), acceleration rate (Acceleration),

deceleration rate (Deceleration) and Jerk value (Jerk) when execute changes to True.
Users can execute another motion instruction to abort the ongoing motion of MC_MoveVelocity.

When aborted by other instructions, OutputsInVelocity will be False and OutputsCommandAborted is True.

When Execute of MC_MoveVelocity changes to True, the axis starts to move at the target velocity. Even if Execute

turns False, the execution of the function block will not be affected.
When ExecuteInputs of MC_MoveVelocity is retriggered and a new target velocity is specified, the axis will change the

velocity to the requested velocity.
In case the Execute pin changes to False after the function block is run, InVelocity of MC_MoveVelocity will turn True

when the target velocity is reached. InVelocity will remain as True, until being aborted by other instructions.
InVelocity remains as True when MC_MoveVelocity reaches the target velocity. Even if the velocity being changed by

MC_MoveSuperimposed, the movement of InVelocity will not be affected.
Troubleshooting

If an error occurs during the execution of the instruction, Error will change to True. You can refer to ErrorID (Error

Code) to address the problem.
Example

The example below describes the behavior of two MC_MoveVelocity.

AXIS_REF_SM3*
(Default Value)
When Execute turns to True and Busy is
AXIS_REF_SM3
False.
Ch a p t er 2
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