MC_MoveSuperImposed

A relative motion is commanded with MC_MoveSuperImposed, 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".

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.

NC command: 

<axis_name>[ MC_MoveSuperImposedDistance=<expr> VelocityDiff=<expr>
Acceleration=<expr> Deceleration=<expr> Jerk=<expr>]

Block diagram in PLCopen:

Input pin

Unit

MC_MoveSuperImposed 1:

Distance

[0,1µm or 10-4 °]

VelocityDiff

[1µm/s or 10-3 °/s]

Acceleration

[1mm/s2 or 1°/s2]

Deceleration

[1mm/s2 or 1°/s2]

Jerk

[1m/s3 or 1000°/s3]

Programming example

S[MC_MoveSuperImposed Distance=321  VelocityDiff=783  Acceleration=811
  Deceleration=922 Jerk=432]