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.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	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 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.
Deceleration	LREAL	No range	User unit/sec²	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk	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 to active. 3 = Blend to next. 4 = Blend to low velocity. 5 = Blend to high velocity. See Buffer Modes for detailed 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.

Remarks

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

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 Function - 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