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

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.

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 to 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

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

Indicates the move was aborted.

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.

Remarks

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

See Also