LSIS XGT Series - Superimposed Operation

Chapter 8 Motion Control Function
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8.2.13 SuperImposed Operation
SuperImposed operation executes the positioning control additionally as much as the moving distance designated in the current motion
operation.
1. Features of control
(1) When SuperImposed operation command is executed, the axis moves from the point at the time of command execution
to the target distance specified in the Distance input.
(2) The moving distance is determined depending on the signs of the target distance specified in the Distance input, and if
the moving direction is positive (+ or no sign), it means forward movement, and if it is negative (-), it means reverse
movement.
(3) The existing motion is not canceled, but its operation overlaps with SuperImposed operation.
(4) Even when the existing motion is completed, SuperImposed operation continues unlessthe amount of movement does
not reach the one specified in the SuperImposedoperation.
(5) If the axis is not in operation, but in "StandStill" status, SuperImposed operation works the same way as
MC_MoveRelative operation.
(6) The current SuperImposed operation can be halted with the MC_HaltSuperImposed command. After executing the
command, SuperImposed operation decelerates and stops at the given acceleration and jerk. The existing motion which
is currently being executed is not affected.
2. Motion function block
Name
Description
Operation Condition
MC_MoveSuperImposed
SuperImposed operation
Edge
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
Name
Description
Operation Condition
MC_HaltSuperImposed
SuperImposed operation halt
Edge
MC_HaltSuperImposed
AxisAxis
Execute Done
UINTUINT
BOOL BOOL
LREAL Deceleration
LREAL Jerk
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
Active BOOL