MC_MoveSuperImposed

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Function Block MC_MoveSuperimposed

This Function Block commands a controlled motion of a specified relative distance additional to an existing motion. The existing motion is not interrupted, but is superimposed by the additional motion.

Note

  • If MC_MoveSuperImposed is active, then any other command in aborting mode except MC_MoveSuperImposed will abort both motion commands: Both the MC_MoveSuperImposed and the underlying motion command. In any other mode, the underlying motion command is not aborted
  • If MC_MoveSuperImposed is active and another MC_MoveSuperImposed is commanded, only the on-going MC_MoveSuperImposed command is aborted, and replaced by the new MC_MoveSuperImposed, but not the underlying motion command
  • The Function Block MC_MoveSuperimposed causes a change of the velocity and, if applicable, the commanded position of an on-going motion in all relevant states
  • In the state StandStill the Function Block MC_MoveSuperimposed acts like MC_MoveRelative
  • The values of Acceleration, Deceleration, and Jerk are additional values to the on-going motion, and not absolute ones. With this, the underlying Function Block always finishes its job in the same period of time regardless of whether a MC_MoveSuperimposed Function Block takes place concurrently
  • MC_MoveSuperimposed acts on the slave axis, while MC_Phasing acts on the master side, as seen from the slave
  • •The output “Active” has a different behavior as in buffered Function Blocks

See the following chapter to check if this Function Block is supported by the used axis implementation: Overview

For this Function Block there is a visualization in the Library MC_Blocks_AC500_V11.

See the following chapter for a list of available data types: Overview

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Timing diagram for MC_MoveSuperimposed

Note

  • The CommandAborted is not visible here, because the new command works on the same instance. PLCopen
  • The end position is between 7000 and 8000, depending on the timing of the aborting of the second command set for the MC_MoveSuperimposed.

Example of MC_MoveSuperImposed during Camming:

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Timing diagram of effect of MC_MoveSuperImposed on same axis

Note

At Slave velocity, the double line shows the effect of MoveSuperimposed while in Synchronized Motion during Camming. The same is valid for the related slave position.