Data type E_SuperpositionMode

TYPE E_SuperpositionMode :
(
    SUPERPOSITIONMODE_VELOREDUCTION_ADDITIVEMOTION := 1,
    SUPERPOSITIONMODE_VELOREDUCTION_LIMITEDMOTION,
    SUPERPOSITIONMODE_LENGTHREDUCTION_ADDITIVEMOTION,
    SUPERPOSITIONMODE_LENGTHREDUCTION_LIMITEDMOTION,
    SUPERPOSITIONMODE_ACCREDUCTION_ADDITIVEMOTION,   (* from TwinCAT 2.11 *)
    SUPERPOSITIONMODE_ACCREDUCTION_LIMITEDMOTION     (* from TwinCAT 2.11 *)
);
END_TYPE 

E_SuperpositionMode determines how a superimposed motion is carried out with the function block MC_MoveSuperImposed.

The modes referred to as Veloreduction execute a superimposed movement with minimum velocity change, preferentially over the full parameterized compensation section. Conversely, the modes referred to as Lengthreduction use the maximum possible velocity and therefore reduce the required distance. In both cases same distance is compensated.

In cases referred to as Additivemotion, the superimposed axis executes a longer or shorter movement than indicated by Length, with the difference described by Distance. These modes are used, for example, if the Length parameter refers to a reference axis and the superimposed axis may move by a longer or shorter distance in comparison.

In cases referred to as Limitedmotion, the superposition is completed within the parameterized distance. These modes are used, for example, if the Length parameter refers to the superimposed axis itself. With these modes it should be noted that the superimposed Distance must be significantly shorter than the available Length.

SUPERPOSITIONMODE_VELOREDUCTION_ADDITIVEMOTION:

The superimposed motion takes place over the whole Length. The specified maximum change in velocity VelocityDiff is reduced in order to reach the required Distance over this length.

The Length is based on a reference axis without superimposed motion (e.g. master axis). The travel path of the axis affected by this compensation is Length + Distance.

SUPERPOSITIONMODE_VELOREDUCTION_LIMITEDMOTION:

The superimposed motion takes place over the whole Length. The specified maximum change in velocity VelocityDiff is reduced in order to reach the required Distance over this length.

The Length refers to the axis affected by the compensation. During compensation, the travel path of this axis is Length.

SUPERPOSITIONMODE_LENGTHREDUCTION_ADDITIVEMOTION:

The distance of the superimposed motion is as short as possible and the speed is as high as possible. Although neither the maximum velocity change VelocityDiff or the maximum Length are exceeded.

The Length is based on a reference axis without superimposed motion (e.g. master axis). The maximum travel path of the axis affected by this compensation is Length + Distance.

SUPERPOSITIONMODE_LENGTHREDUCTION_LIMITEDMOTION:

The distance of the superimposed motion is as short as possible and the speed is as high as possible. Although neither the maximum velocity change VelocityDiff or the maximum Length are exceeded.

The Length refers to the axis affected by the compensation. During compensation, the maximum travel path of this axis is Length.

SUPERPOSITIONMODE_ACCREDUCTION_ADDITIVEMOTION (from TwinCAT 2.11)

The superimposed motion takes place over the whole Length. The specified maximum acceleration (parameter Acceleration or Deceleration) is reduced as far as possible, in order to reach the specified Distance on this path.

The Length is based on a reference axis without superimposed motion (e.g. master axis). The travel path of the axis affected by this compensation is Length + Distance.

SUPERPOSITIONMODE_ACCREDUCTION_LIMITEDMOTION (from TwinCAT 2.11)

The superimposed motion takes place over the whole Length. The specified maximum acceleration (parameter Acceleration or Deceleration) is reduced as far as possible, in order to reach the specified Distance on this path.

The Length refers to the axis affected by the compensation. During compensation, the travel path of this axis is Length.