Command: Move Velocity (I-PD) (38)

Supported Axes:	Position or Velocity Control Axes
Supported Control Modes:	Velocity I-PD

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

Parameter Description

Range

Requested Speed (position-units/s)

any

Direction

Positive (1): Moves at a positive velocity. Speed must be positive.
Negative (-1): Moves at a negative velocity. Speed must be positive.
Current (2): Moves at the current Target velocity. If the Target Velocity is zero when the command is issued, it will move with a positive velocity. Speed must be positive.
Signed (4): The direction of the move is determined by the sign of the Speed command parameter.

a valid integer as described

Description

This command is an advanced command. Do not use it unless you specifically intend to use the Velocity I-PD control mode. If you want to make a basic velocity move, use the Move Velocity (37) command instead.

This command moves the axis at the Requested Speed. When this command is issued, the Target Velocity is immediately set to the Requested Speed. The axis will automatically be switched to the Velocity I-PD control mode during the motion, and will remain in the Velocity I-PD control mode until another command is issued to the axis. However, if a closed-loop halt occurs on the axis during the motion, the axis will remain in the Velocity I-PD control mode.