Data typeST_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

AbortOption is an optional parameter of the MC_MoveSuperimposed block that specifies the behavior of a superimposed movement in the case of a standstill of the main movement.

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 speed 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 standard 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. In the case of slave axes, the modes of operation 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)
	ABORTATSTANDSTILL	RESUMEAFTERSTANDSTILL	RESUMEAFTERMOTIONSTOP
1. Override = 0%	continued	continued	continued
2. Temporary standstill of the main movement	Abort	continued	continued
3. Movement reversal	Abort	continued	continued
4. Axis has reached the target position or is stopped	Abort	Abort	continued
5. Axis reset or switch-off of the enable signal	Abort	Abort	Abort
6. In the case of slave axes: Uncoupling	Abort	Abort	Abort