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6-16 Keypad Programming MN1854
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Sets move profiles to “continuous move”, using the AC, DE and VE parameters. Move Continuous is
enabled on an axis with the “+” sign. “MC+” enables the mode for axis one. DI, DA and DC commands reset
the mode to distance.
Each MC+ segment must contain a GO command. Accelerations, Velocities, and Decelerations may be
changed in any segment. If no change is specified, the last parameter value will be used. It is not valid to
issue positional commands (DI, DA, DC, GH, SP) to an axis while it is moving in continuous mode. Any
command is valid within an MC segment except Distance Commands (DA, DC, & DI).
The direction of the move is specified by the sign of the VE parameter. If the sign of the VE parameter
changes between two segments, the control will automatically stop the motor (at the programmed
deceleration rate) and change directions to the new speed. This makes changing directions based on
variable inputs very easy to program using a scaled variable as the VE parameter.
When a MC+ segment is started, it will continue to move at the speed specified by VE until another VE is
commanded, the ESC Key is pressed, or an End Of Travel, Kill Motion, Interrupt, or Stop Input is activated.
A commanded velocity of zero (VE0) stops a Mode Continuous move. Motion will also stop if the edit, help,
copy, or delete menus are opened.
After a continuous move segment has started, command processing will continue when constant velocity is
reached. Other commands are then processed sequentially. This allows you to do things like:
S Have asynchronous inputs change the speed of an axis
S Make motion profile changes based on time delays or input states
S Manipulate I/O while moving as a function or time, distance, or input states
S Change speed based on analog inputs or variables
S Have an operator update the speed of an axis through the keypad
S Servo to an analog input
S Make a one axis joystick using analog inputs
If a motor is making a move when it comes to the end of a program, the motor will continue moving, even
after the program ends. This allows you to:
S Put different MC moves in different programs and select different speeds by running different programs.
S Change speeds based on Binary or BCD program select lines
S Call MC+ moves as subroutines
S Run from “hosted” RS–232C mode, where the computer commands speed changes
S Run another program from the keypad that does not violate MC syntax. So you could run another
program from the keypad to change speeds, manipulate I/O, interface with an operator or calculate
arithmetic.
MC
Move Continuous
syntax – MC+