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.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge A rising edge is the transition of a digital signal from low to high. It is also called 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. See Axis Name and Number for more information. See AXIS_REF Structure for more information.
Distance	LREAL	No range	User units	No default	Distance.
VelocityDiff	LREAL	No range	User unit/sec	No default	Velocity rate.
Acceleration	LREAL	No range	User unit/sec²	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration for more information.
Deceleration	LREAL	No range	User unit/sec²	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration for more information.
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 In physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time. See S-curve and Trapezoidal Acceleration / Deceleration for more information.
BufferMode	SINT	0, 5	N/A	No default	0 = Abort. 1 = Buffer. 2 = Blend to active. 3 = Blend to next. 4 = Blend to low velocity. 5 = Blend to high velocity. See Buffer Modes for more information.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	Indicates the move completed successfully. The Command Position 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 for more information.

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 for more information about how inputs and outputs work.
See Main for more information 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 6-237: MC_MoveSuperimp

Time Diagram

Figure 6-238: Time Diagrams: First and Second FBs

Figure 6-239: Time Diagram

1. The CommandAborted is not visible here because the new command works on the same instance.
  See Pipe Network - General Rules for more information.
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.

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