MC_MoveSuperimp

Description

This function block provides the ability to cause additional axis motion superimposed upon a currently executing move. A superimposed move is executed like an MC_MoveRelative move using the specified Distance, Velocity (i.e. VelocityDiff), Acceleration, Deceleration, and JerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time 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.

This function block provides a way to smoothly apply a shift in axis position while it is executing a move.

Figure 7-134: MC_MoveSuperimp

Time Diagram

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• 1. The CommandAborted is not visible here, because the new command works on the same instance (see general rules)
     
  2. The end position is between 7000 and 8000, depending on the timing of the aborting of the second command set for the MC_MoveSuperimposed

• 
  
• This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute	Description	Requests to queue the superimposed move
	Data type	BOOL
	Range	0, 1
	Unit	n/a
	Default	—
Axis	Description	Name of a declared instance of the AXIS_REF library function. For more details, About Axis Name and Number
	Data type	AXIS_REF
	Range	[1,256]
	Unit	n/a
	Default	—
Distance	Description	Distance
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
VelocityDiff	Description	Velocity rate
	Data type	LREAL
	Range	—
	Unit	User unit/sec
	Default	—
Acceleration	Description	Trapezoidal: Acceleration rate S-curve: Maximum acceleration
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Deceleration	Description	Trapezoidal: Deceleration rate S-curve: Unused
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Jerk	Description	Trapezoidal: 0 S-curve: Constant jerk
	Data type	LREAL
	Range	—
	Unit	User unit/sec3
	Default	—
BufferMode	Description	abort buffer blend to active blend to next blend to low velocity blend to high velocity See table in Buffer Modes
	Data type	SINT
	Range	[0,5]
	Unit	n/a
	Default	—

 

Output

Done	Description	Indicates the move completed successfully. The Command Position has reached the endpoint.
	Data type	BOOL
Busy	Description	High from the moment the Execute input is one-shot to the time the move is ended
	Data type	BOOL
Active	Description	Indicates this move is the active superimposed move
	Data type	BOOL
CommandAborted	Description	Indicates the move was aborted
	Data type	BOOL
Error	Description	Indicates an invalid input was specified or the move was terminated due to an error
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE See table in PLCopen Function Block ErrorID Output
	Data type	INT

Example

Structured Text

(* 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

See also how this function is used in the Hole punch project here

Ladder Diagram

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