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
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:
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.