MC_MoveSuperimp

PLCopen motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Performs a single-axis move superimposed upon the currently executing move.

Commands a controlled motion of a specified relative distance additional to an existing motion.
The existing Motion is not interrupted An asynchronous signal from hardware indicating the need for attention or a synchronous event in software indicating the need for a change in execution., but is superimposed by the additional motion.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to queue the move.
Axis	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.. See Axis Name and Number. See AXIS_REF Structure.
Distance	LREAL	No range	User units	No default	Distance.
VelocityDiff	LREAL	No range	User unit/sec	No default	Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP rate.
Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	LREAL	No range	User unit/sec²	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration.
Deceleration	LREAL	No range	User unit/sec²	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time.	LREAL	No range	User unit/sec³	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk. See S-curve and Trapezoidal Acceleration / Deceleration.
BufferMode	SINT	0, 5	N/A	No default	0 = Abort. 1 = Buffer. 2 = Blend A way that consecutive function blocks cooperate in the transition from the first to the next. to active. 3 = Blend to next. 4 = Blend to low velocity. 5 = Blend to high velocity. See Buffer Modes.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	Indicates the move completed successfully. The Command Position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. has reached the endpoint.
Busy	BOOL	No range	N/A	High from the moment the Execute input goes high until the time the move is ended.
Active	BOOL	No range	N/A	Indicates this move is the Active move.
CommandAborted	BOOL	No range	N/A	Indicates the move was aborted.
Error	BOOL	No range	N/A	Indicates either: An invalid input was specified. The move was terminated due to an error.
ErrorID	INT	No range	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

This function block starts a motion-related action and stores data for calculations and error checking.
See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

See Function Blocks - General Rules about how inputs and outputs work.
See Main about how this function is used in the Hole punch project.

Usage

This function block:

Provides a way to smoothly apply a shift in axis position while it is executing a move.
Is commonly used with MC_TouchProbe for performing position corrections on the slave axis in a Mark-to-Machine registration application.

MC_MoveSuperimp performs a similar function to the SlaveOffset input in the MC_CamIn function block.
It has the additional features of setting the velocity, acceleration, deceleration, and jerk motion parameters.

A superimposed move is executed similar to a MC_MoveRelative move using the specified Distance, Velocity, Acceleration, Deceleration, and Jerk values.
- The interpolated command generated by a superimposed move is added to the command of the currently executing move.
- Subsequent calls to MC_MoveSuperimp can abort or blend to an executing MC_MoveSuperimp move.

Figure 1: MC_MoveSuperimp

Time Diagram

Figure 2: Time Diagrams: First and Second FBs

Figure 3: Time Diagram

The CommandAborted is not visible here because the new command works on the same instance.
See Pipe Network - General Rules.
The end position is between 7000 and 8000, depending on the timing of the aborting of the second command set for the MC_MoveSuperimposed.

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* MC_MoveSuperimp ST example *)
Inst_MC_MoveSuperimp( MovSupReq, Axis1, 123.555, 10.0, 100.0, 100.0, 0, 0 );
MovSupDone := Inst_MC_MoveSuperimp.Done;  //store Done output into user defined variable