Chapter 6 Motion Function Blocks
6.3.19 SuperImposed operation (MC_MoveSuperImposed)
MC_MoveSuperImposed
AxisAxis
Execute Done BOOL
UINT
BOOL
UINT
BOOL ContinuousUpdate
LREAL Distance
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
LREAL VelocityDiff
Active BOOL
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
CoveredDistance LREAL
Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis)
Give a SuperImposed operation command to the relevant axis in the rising Edge.
BOOL ContinuousUpdate
Specify the update setting of input value.
(Refer to 6.1.5.Changes in Parameters during Execution of Motion Function Block)
Specify the target distance. [u]
Specify the added velocity. [u/s]
Specify the added acceleration. [u/s
2
Specify the added deceleration. [u/s
2
Specify the added change rate of acceleration/deceleration. [u/s
3
Indicate whether to reach the specified distance.
Indicate that the execution of motion function block is not completed.
Indicate that the current motion function block is controlling the relevant axis.
Indicate that the current motion function block is interrupted by other command
Indicate whether an error occurs or not.
Output the number of error occurred while motion function block is running.
LREAL CoveredDistance
Indicate the distance moved with SuperImposed operation after SuperImposed
(1) This motion function block is a command issuing SuperImposed operation order to the relevant axis.
(2) SuperImposed is a command ordering to move from the current position at the time of the command to the target distance
set by Distance input.
(3) The direction of the movement is determined by the positivity/negativity of the set distance. Positive distance (+ or no sign)
means forward movement, and negative distance (-) means reverse movement.
(4) After moving the target distance, when the velocity reaches 0, the command is completed and Done output is on.
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