MC_MoveSuperimposed

This FB serves to carry out a superimposed relative positioning. The command does not abort the secondary motion.

If the command is active, every other command in the " non-buffered mode " (except for MC_MoveSuperimposed ) aborts both the secondary and the superimposed motion.

If the command is active and another MC_MoveSuperimposed command is instructed, the active command is aborted and replace by the new one. The secondary motion is not aborted though.

At standstill, the MC_MoveSuperimposed command behaves like the MC_MoveRelative command.

		MC_MoveSuperimposed
AXIS_REF	-	Axis	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
BOOL	-	ContinuousUpdate	Active	-	BOOL
LREAL	-	Distance	CommandAborted	-	BOOL
LREAL	-	VelocityDiff	Error	-	BOOL
LREAL	-	Acceleration	ErrorID	-	L_IE1P_Error
LREAL	-	Deceleration	CoveredDistance	-	LREAL
LREAL	-	Jerk

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
Execute BOOL	FALSE ä TRUE	Start positioning Starting is possible from the following Axis states : Standstill DiscreteMotion und ContinuousMotion Note: Starting the FB from the "Synchronized Motion" axis state results in the "NotReadyForMotion" error message!
ContinuousUpdate BOOL	Continuous acceptance of the profile parameters Control input ContinuousUpdate
FALSE	The profile parameters ( Distance , VelocityDiff , Acceleration , ...) are accepted with a rising edge at Execute .
TRUE	The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.
Distance LREAL	Additional distance to be traversed in [unit]
VelocityDiff LREAL	Maximum velocity difference in [unit/s] for current velocity Special case : Velocity = 0: The default value defined in subindex 40 is used for the velocity.
Acceleration LREAL	Maximum acceleration in [unit/s ² ] Special case : Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Deceleration LREAL	Maximum deceleration in [unit/s ² ] Special case : Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Jerk LREAL	Maximum jerk in [unit/s ³ ] Special case : Jerk = 0: The default value defined in subindex 43 is used for the jerk.

Name

Data type

Information/possible settings

Axis

AXIS_REF

Transfer of the axis data structure

Motion axes (AXIS_REF)

Execute

BOOL

FALSE ä TRUE

Start positioning

Starting is possible from the following Axis states :

Standstill

DiscreteMotion und

ContinuousMotion

Note:

Starting the FB from the "Synchronized Motion" axis state results in the "NotReadyForMotion" error message!

ContinuousUpdate

BOOL

Continuous acceptance of the profile parameters

Control input ContinuousUpdate

FALSE

The profile parameters ( Distance , VelocityDiff , Acceleration , ...) are accepted with a rising edge at Execute .

TRUE

The profile parameters are accepted continuously, i.e. during the execution, the motion profile may change.

Distance

LREAL

Additional distance to be traversed in [unit]

VelocityDiff

LREAL

Maximum velocity difference in [unit/s] for current velocity

Special case :

Velocity = 0: The default value defined in subindex 40 is used for the velocity.

Acceleration

LREAL

Maximum acceleration in [unit/s ² ]

Special case :

Acceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Deceleration

LREAL

Maximum deceleration in [unit/s ² ]

Special case :

Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Jerk

LREAL

Maximum jerk in [unit/s ³ ]

Special case :

Jerk = 0: The default value defined in subindex 43 is used for the jerk.

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Positioning completed successfully.
Busy BOOL	TRUE	Processing is running.
Active BOOL	TRUE	The command of the FB is currently executed. The Active output matters if a motion control is carried out by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was aborted by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.
CoveredDistance LREAL	Covered path in [unit] since the start of the command

The following example shows the behaviour of MC_Superimposed in combination with the motion command MC_MoveRelative :

Note 1: CommandAborted is not set in case of as the new command effects the same FB instance.

Note 2: The end position is between "7000" and "8000" depending on the time of abortion of the second command MC_MoveSuperimposed .

Example: Behaviour of MC_MoveSuperimposed in combination with MC_MoveRelative