MC_MoveSuperImposed

A relative motion is commanded with the MC_MoveSuperImposed FB, in addition to motion already active. The active motion is not interrupted but is superimposed with the commanded one. The motion is always executed jerk-limited with the constant set input ‘jerk’. This value is valid for both ‘acceleration’ and ‘deceleration’.

If the axis is already in a motion state and receives a command by means of this FB, this leads to a superimposed interpolation and thus to a speed change and a change in the target position of the active motion.

If the axis is in the ‘Standstill’ state, a command by the MC_MoveSuperImposed FB acts like a command by an MC_MoveRelative FB.

As ‘acceleration’ values are also superimposed in the case of superimposed interpolation, corresponding axis parameters must be defined to ensure that the axis is not dynamically overtaxed.

Block diagram

MC_MoveSuperImposed 1:

Parameters of the FB

VAR_IN_OUT

 

Axis

AXIS_REF

Axis reference.

VAR_INPUT

 

Execute

BOOL

Start the motion at rising edge.

 

Distance

LREAL

Additional Distance that is to be superimposed.

Range [-2147483648.0, 2147483647.0]
Default unit [0,1µm or 10-4 °]

 

VelocityDiff

LREAL

Value of the maximum velocity difference to the ongoing motion (always positive, not necessarily reached).

Range [1.0, 2147483647.0]
Default unit [1µm/s or 10-3 °/s]

 

Acceleration

LREAL

Value of the acceleration (always positive, increasing energy of the motor).

Range [1.0, 2147483647.0]
Default unit [1mm/s2 or 1°/s2]

 

Deceleration

LREAL

Value of the deceleration (always positive, decreasing energy of the motor).

Range [1.0, 2147483647.0]
Default unit [1mm/s2 or 1°/s2]

 

Jerk

LREAL

Value of the Jerk (always positive).

Range [1.0, 2147483647.0]
Default unit [1m/s3 or 1000°/s3]

VAR_OUTPUT

 

Done

BOOL

The relative distance of the active movement is superimposed.

 

CommandAborted

BOOL

Command is aborted by another command.

 

Error

BOOL

Indicates if an error has occurred.

 

ErrorID

WORD

Error identification.

Behavior of the FB

If no interpolation is active, i.e. if the axis is in the ‘Standstill’ state, a command by the MC_MoveSuperImposed FB acts like a command by an MC_MoveRelative FB.

If interpolation is already active, i.e. the axis is in one of the ‘Continuous Motion’, ‘Discrete Motion’ or ‘Synchronized Motion’ states, a command by the MC_MoveSuperImposed FB starts a further, superimposed interpolation.

If a superimposed interpolation (cf. 2.) is already active, a new command by the MC_MoveSuperImposed FB ensures that only the currently superimposed interpolation is replaced by the new MC_MoveSuperImposed command, while the subordinate interpolation is not affected.

If a superimposed interpolation (cf. 2.) is already active, and a new command is issued with any MC_Move*** except MC_MoveSuperImposed, this results in aborting of both active interpolations, i.e. both the superimposed and the subordinate interpolations are replaced by the new MC_Move*** command.