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MC_MoveVelocity
9.6
MC_MoveVolocity function block performs velocity control for the specified axis. The
following parameters are used when executing MC_MoveVelocity.
Velocity: Specify the target velocity and the rotation direction. Positive velocity =
positive direction, negative velocity = negative direction.
Acceleration: Specify the acceleration rate, the value cannot be 0.
Deceleration: Specify the deceleration rate, the value cannot be 0.
ContinuousUpdate: Continuously updates the velocity. TRUE= the target velocity,
acceleration rate and deceleration rate can be changed when the axis is operating.
An axis that is operating and is in Continuous Motion state can only be stopped using
MC_Stop or MC_Halt.
IO_Ctrl: Trigger execution using digital input.
MC_Home
9.7
Motion Function Block provides 37 homing methods which can be selected using
MC_Home function block. Please see the following parameters:
6098: Homing method. (Use one of the 37 homing methods designed according to
CiA402)
6099#1: Homing at low speed.
6099#2: Homing at high speed.
609A: Homing acceleration.
607C: Home offset.
Executing MC_Home when the axis is in Stanstill state performs homing using the
parameters shown above. The axis changes to Homing state when this function block
