AX-Series Motion Controller Instructions Manual Chapter 2
173
Name Timing for shifting to True Timing for shifting to False
bCommandAborted
When this instruction is aborted by
another instruction.
When this instruction is aborted via
When bEnable turns to False.
When an error occurs in the execution
conditions or input values for the
instruction. (Error code is recorded)
When bEnable turns from True to False.
(Error Code is cleared)
ErrorID
Timing Diagram
Inputs/Outputs
Axis
Specify the
axis.
AXIS_REF_SM3* AXIS_REF_SM3
When bEnable turns to True and bBusy is
False.
*Note:
AXIS_REF_SM3 (FB): All function blocks contain this variable, which works as the starting program for function blocks.
Function
The instruction performs speed control with specified target velocity (lrVelocity), acceleration rate (lrAcceleration),
deceleration rate (lrDeceleration) and Jerk value (lrJerk) when bEnable changes to True.
You can execute another motion instruction to abort the ongoing motion of MC_VelocityControl. But the servo
is in CSV mode and the control mode will not be switched to CSP control mode.
When the instruction is interrupted by another instruction, the output bInVelocity turns to False and
bCommandAborted turns to True.
When the input bContinuousUpdate of the instruction turns to True and the target velocity is given a new
value, the axis velocity will update to the new speed.
When bEnable turns to False, the instruction makes the axis decelerate to a stop and the mode is switched to
CSP control mode.
When the instruction is run, 0x60FF (Target Velocity), 0x606C (Velocity actual value), 0x6060
(ModeOfOperation) and 0x6061 (ModeOfOperationDisplay) OD must be included in the slave PDO mapping
data. Otherwise, the servo will not be able to work.
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