Chapter 11 Motion Control Instructions
11-63
MC_MoveSuperimposed
FB/FC Explanation Applicable model
FB
MC_MoveSuperimposed controls the axis to superimpose the set
distance on the current motion state according to the set velocity,
acceleration and deceleration.
DVP15MC11T
DVP15MC11T-06
Input Parameters
Parameter name Function Data type
Axis
Specify the number of the
axis which is to be
controlled.
USINT
of Section 2.2.
(The variable value
When Execute
changes from
FALSE to TRUE
Execute
executed when Execute
changes from FALSE to
BOOL
TRUE or FALSE
(FALSE)
-
ContinuousUpdate Reserved - - -
Distance
superimpose(Unit:
Unit)
LREAL
positive number and
0
When Execute
changes from
FALSE to TRUE
Velocity
Specify the target velocity.
(Unit: Unit/second)
LREAL
(The variable value
changes from
Acceleration
acceleration rate.
2
LREAL
(The variable value
changes from
Deceleration
deceleration rate.
2
LREAL
(The variable value
changes from
Jerk
Specify the change rate of
the target acceleration or
deceleration.
3
LREAL
Positive number
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Notes:
1. MC_MoveSuperimposed instruction is executed when Execute changes from FALSE to TRUE.
There is no impact on the instruction execution when Execute of the instruction changes from
TRUE to FALSE during execution of the instruction.
2. When Execute changes from FALSE to TRUE again during execution of the instruction, there is no
impact on the instruction execution and the instruction will go on being executed in the previous
way. When Execute changes from FALSE to TRUE again after the instruction execution is
completed, the instruction can be re-executed.
3. Refer to section 10.2 for the relation among Velocity, Acceleration, Deceleration and Jerk.
MC_MoveSuperimposed
Axis Done
MC_MoveSu perimposed_instance
Execute
ContinuousUpdate
Busy
Active
Distance
Error
ErrorID
CommandAborted
Acceleration
Deceleration
Jerk
Velocity
CoveredDistance