Delta DVP-15MC Series, Руководство по эксплуатации

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Chapter 11 Motion Control Instructions
11-21
11
MC_MoveVelocity
FB/FC Explanation Applicable model
FB
MC_MoveVelocity controls the axis motion based on the set acceleration
and deceleration till the set target velocity is reached and then the axis
moves at the set speed.
DVP15MC11T
DVP15MC11T-06

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Axis
Specify the number of the
axis which is to be
controlled.
USINT
Refer to Functions of
Section 2.2.
(The variable value must
be set)
When Execute
changes from
FALSE to TRUE
Execute
The instruction is executed
when
Execute changes
from FALSE to TRUE.
BOOL
TRUE or FALSE
(FALSE)
-
ContinuousUpdate Reserved - - -
Velocity
Specify the target speed
(Unit: unit/second)
LREAL
Positive number, Negative
number and 0
（
The variable value must
be set
）
When Execute
changes from
FALSE to TRUE
Acceleration
Specify the target
acceleration (Unit:
unit/second
2
)
LREAL
Positive number
（
The variable value must
be set
）
When Execute
changes from
FALSE to TRUE
Deceleration
Specify the target
deceleration (Unit:
unit/second
2
)
LREAL
Positive number
（
The variable value must
be set
）
When Execute
changes from
FALSE to TRUE
Jerk
Specify the change rate of
target acceleration or
deceleration.
(Unit: Unit/s
3
)
LREAL
Positive number
（
The variable value must
be set
）
When Execute
changes from
FALSE to TRUE
Direction
Specify the rotation
direction
1: Positive direction
3: Negative direction
4: Current direction (When
the motor is in stop state,
the current direction is the
positive direction.)
MC_Direc
tion
1: mcPositiveDirection,
3: mcNegativeDirection
4: mcCurrentDirection,
（
1
）
When Execute
changes from
FALSE to TRUE
MC_Mov eVelocity
Ax is I nvelocity
MC_Mov eVelocity _ins tanc e
Ex ecut e
Cont inuous Upda te
Busy
Ac tiv e
Veloc it y
Error
ErrorID
CommandAborted
Ac celeration
Deceleration
Jerk
Direc tion
Buf ferMode