MC_MoveSuperimposed
This function block triggers a movement of a specific relative distance in addition to an existing movement. The existing movement is not interrupted, but superimposed by the additional movement.
- If MC_MoveSuperimposed is active, every other command in BufferMode "mcAborting" cancels both motion commands: MC_MoveSuperimposed and the underlying motion command. In any other mode, the underlying motion command is not canceled.
- If MC_MoveSuperimposed is active and another MC_MoveSuperimposed command is triggered, only the current MC_MoveSuperimposed command is canceled and replaced by the new MC_MoveSuperimposed command, not the underlying motion command
- MC_MoveSuperimposed changes the speed and, if applicable, the target position of a current movement in all relevant states.
- In the "Idle" state, the MC_MoveSuperimposed behaves like the MC_MoveRelative.
- The values "Acceleration", "Deceleration" and "Jerk" are additional values for the current movement and not absolute values. This means that the underlying function block always ends its execution in the same time period, regardless of whether an MC_MoveSuperimposed is executed at the same time.
- The Active output has a different behavior to buffered function blocks.
VAR_IN_OUT
Variable name | Data type | Description |
|---|---|---|
Axis | AXIS_REF | Reference to a logical device See also AXIS_REF. |
VAR_INPUT
Variable name | Data type | Description |
|---|---|---|
Execute | BOOL | Start execution of the function block. |
Distance | LREAL | Relative distance in [user units] |
Velocity | LREAL | Setpoint speed in [user units/s] |
Acceleration | LREAL | Acceleration in [user unit/s2] |
Deceleration | LREAL | Deceleration in [user unit/s2] |
Jerk | LREAL | Jerk in [user unit/s3] |
BufferMode | MC_Buffer_Mode | Chronological sequence of the function block |
VAR_OUTPUT
Variable name | Data type | Description |
|---|---|---|
Done | BOOL | Function block successfully completed |
Busy | BOOL | Function block is active |
Active | BOOL | Function block controls the axis |
CommandAborted | BOOL | The function block was canceled by another command |
Error | BOOL | An error has occurred in the function block |
ErrorID | WORD | Error number |
CoveredDistance | LREAL | Distance covered since the start of the movement via this function block |
