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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