ST_SuperpositionOptions

TYPE ST_SuperpositionOptions :
STRUCT
   AbortOption : E_SuperpositionAbortOption;
END_STRUCT
END_TYPE

TYPE E_SuperpositionAbortOption :
 (
    SUPERPOSITIONOPTION_ABORTATSTANDSTILL := 0, 
    SUPERPOSITIONOPTION_RESUMEAFTERSTANDSTILL, 
    SUPERPOSITIONOPTION_RESUMEAFTERMOTIONSTOP 
 );
END_TYPE

AbortOption is an optional parameter of the function block MC_MoveSuperImposed, which determines the behavior of a superimposed movement at a standstill of the main movement.

AbortOption	Description
SUPERPOSITIONOPTION_ABORTATSTANDSTILL	The superimposed movement is aborted as soon as the subordinate movement leads to a standstill of the axis. The only exception to this is a standstill caused by a velocity override of zero. In this case the superimposed movement is also continued as soon as the override is not equal to zero. AbortAtStandstill is the default behavior if the option is not assigned by the user.
SUPERPOSITIONOPTION_RESUMEAFTERSTANDSTILL	The superimposed movement is not aborted in the case of a temporary standstill of the main movement, but is continued as soon as the axis moves again. This can occur in particular in the case of a reversal of direction or with cam disc movements. The superimposed movement is terminated only if the target position of the axis has been reached or the axis has been stopped.
SUPERPOSITIONOPTION_RESUMEAFTERMOTIONSTOP	The superimposed movement is not aborted in the case of a standstill of the main movement, even if the axis has reached its target position or has been stopped. In this case, the superimposed movement is continued after the axis restarts. This case is not of importance if the superimposed movement is applied to a slave axis, since this cannot be started or stopped actively. For slave axes, the operation modes RESUMEAFTERSTANDSTILL and RESUMEAFTERMOTIONSTOP are equivalent. The superimposed movement would thus also be continued after a restart of the master axis.

AbortOption

Description

SUPERPOSITIONOPTION_ABORTATSTANDSTILL

The superimposed movement is aborted as soon as the subordinate movement leads to a standstill of the axis. The only exception to this is a standstill caused by a velocity override of zero. In this case the superimposed movement is also continued as soon as the override is not equal to zero. AbortAtStandstill is the default behavior if the option is not assigned by the user.

SUPERPOSITIONOPTION_RESUMEAFTERSTANDSTILL

The superimposed movement is not aborted in the case of a temporary standstill of the main movement, but is continued as soon as the axis moves again. This can occur in particular in the case of a reversal of direction or with cam disc movements. The superimposed movement is terminated only if the target position of the axis has been reached or the axis has been stopped.

SUPERPOSITIONOPTION_RESUMEAFTERMOTIONSTOP

The superimposed movement is not aborted in the case of a standstill of the main movement, even if the axis has reached its target position or has been stopped. In this case, the superimposed movement is continued after the axis restarts.

This case is not of importance if the superimposed movement is applied to a slave axis, since this cannot be started or stopped actively. For slave axes, the operation modes RESUMEAFTERSTANDSTILL and RESUMEAFTERMOTIONSTOP are equivalent. The superimposed movement would thus also be continued after a restart of the master axis.

Overview of the abort conditions for a superimposed movement (MC_MoveSuperImposed)

	ABORTATSTAND STILL	RESUMEAFTER STANDSTILL	RESUMEAFTER MOTIONSTOP
1. override = 0%	resume	resume	resume
2. temporary standstill of the main movement	abort	resume	resume
3. motion reversal	abort	resume	resume
4. axis has reached the target position or is stopped	abort	abort	resume
5. axis reset or switch-off of the enable signal	abort	abort	abort
6. For slave axes: Decoupling	abort	abort	abort

Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT v3.0.0	PC or CX (x86 or x64)	Tc2_MC2