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Using Velocity-Mode with AxisInterface commands

alink
Long-established Member

Using Velocity-Mode with AxisInterface commands

Hello,

is there a way to use Velocity Mode with AxisInterface commands?

It is possible to set arAxisCtrl_gb[1].Admin._OpModeBits.MODE_AXS_VELOCITY := TRUE; but how to set a velocity, acceleration/decelaration?

There is no option for ...[1].VelMode.Velocity := .... or something

I'm using CtrlX Works 1.16.0

Thanks for reply

1 REPLY 1
CodeShepherd
Community Moderator

Re: Using Velocity-Mode with AxisInterface commands

In version 1.16 the velocity mode is using the settings under PosMode.

 

IF bStart THEN
   arAxisCtrl_gb[uiAxisIndex].PosMode.Velocity := 11;
   arAxisCtrl_gb[uiAxisIndex].PosMode.DynValues.Acceleration:=2;
   arAxisCtrl_gb[uiAxisIndex].PosMode.DynValues.Deceleration:=2;
   arAxisCtrl_gb[uiAxisIndex].Admin._OpModeBits.MODE_AXS_VELOCITY := TRUE;
  //arAxisCtrl_gb[uiAxisIndex].Admin._OpMode := MB_AXIS_MODE.ModeVel;
   IF arAxisStatus_gb[uiAxisIndex].Admin._OpModeAckBits.MODE_AXS_VELOCITY 
   AND arAxisStatus_gb[uiAxisIndex].Admin.CmdDone 
   AND arAxisStatus_gb[uiAxisIndex].Data.ContinuousMotion THEN
	   IF arAxisStatus_gb[uiAxisIndex].Data.IpoPosition > 100 THEN
          //arAxisCtrl_gb[uiAxisIndex].Admin._OpModeBits.MODE_AXS_VELOCITY := FALSE;		   
		  bStart := FALSE;
	   END_IF
   END_IF   
END_IF

 

This will change to own VelMode in the next release 1.18.

IF bStart THEN
   arAxisCtrl_gb[uiAxisIndex].VelMode.Velocity := 15.5;
   arAxisCtrl_gb[uiAxisIndex].VelMode.DynValues.Acceleration:=1.4;
   arAxisCtrl_gb[uiAxisIndex].VelMode.DynValues.Deceleration:=1.4;
   arAxisCtrl_gb[uiAxisIndex].Admin._OpModeBits.MODE_AXS_VELOCITY := TRUE;
  //arAxisCtrl_gb[uiAxisIndex].Admin._OpMode := MB_AXIS_MODE.ModeVel;
   IF arAxisStatus_gb[uiAxisIndex].Admin._OpModeAckBits.MODE_AXS_VELOCITY 
   AND arAxisStatus_gb[uiAxisIndex].Admin.CmdDone 
   AND arAxisStatus_gb[uiAxisIndex].Data.ContinuousMotion THEN
	   IF arAxisStatus_gb[uiAxisIndex].Data.IpoPosition > 100 THEN
          //arAxisCtrl_gb[uiAxisIndex].Admin._OpModeBits.MODE_AXS_VELOCITY := FALSE;		   
		  bStart := FALSE;
	   END_IF
   END_IF   
END_IF
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