MC_MoveSuperimp

PLCopen motion icon

Function Block - 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, but is superimposed by the additional motion.
See Function Blocks - General Rules about how inputs and outputs work.
See Main about how this function is used in the Hole punch project.

- This function block starts a motion-related action and stores data for calculations and error checking.
- If using a dual-core controller, see Program a Multi-Core Controller.

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.

Inputs

Input	Data Type See Data Types.	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, request to queue the move.
Axis	AXIS_REF	1 to 256	N/A	No default	Name of a declared instance of the AXIS_REF library function. See Axis Name and Number. See AXIS_REF Structure.
Distance	LREAL	No range	User units	No default	Distance.
VelocityDiff	LREAL	No range	User units / sec	No default	Velocity rate.
Acceleration	LREAL	No range	User units / sec²	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration.
Deceleration	LREAL	No range	User units / sec²	No default	Trapezoidal: Deceleration rate. S-curve: Maximum deceleration. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk	LREAL	No range	User units / sec³	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk. See S-curve and Trapezoidal Acceleration / Deceleration.
BufferMode	SINT	Enumerated	N/A	No default	The specified buffer mode. BM_ABORTING BM_BUFFERED BM_BLENDING_PREVIOUS BM_BLENDING_NEXT BM_BLENDING_LOW BM_BLENDING_HIGH See Buffer Modes.

Outputs

Output	Data Type See Data Types.	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	Indicates the move completed successfully. The Command Position has reached the endpoint.
Busy	BOOL	FALSE, TRUE	N/A	High from the moment the Execute input goes high until the time the move is ended.
Active	BOOL	FALSE, TRUE	N/A	Indicates this move is the Active move.
CommandAborted	BOOL	FALSE, TRUE	N/A	If TRUE, the command was aborted by another function block.
Error	BOOL	FALSE, TRUE	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.

Time Diagram

Figure 1: Time Diagrams: First and Second FBs

Figure 2: 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