Siemens SIMATIC S7-1500 Motion Control V13 - Page 267

Instructions
11.1 S7-1500 Motion Control V2
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
267
Parameters
The following table shows the parameters of the "MC_MoveSuperimposed" Motion Control
instruction:
Parameter
Declaration
Data type
Default
value
Description
Axis
InOut
TO_PositioningAxis
-
Axis technology object
Execute
INPUT
BOOL
FALSE
Start of the job with a positive edge
Distance INPUT LREAL 0.0 Additional travel distance for the superimposing
positioning operation
(negative or positive)
VelocityDiff INPUT LREAL -1.0 Maximum velocity deviation compared to the running
motion
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The velocity configured in "Technology
object > Configuration > Advanced parameters >
Default dynamics" is used.
(<TO>.DynamicDefaults.Velocity)
Acceleration INPUT LREAL -1.0 Acceleration
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The acceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The deceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
Value > 0.0: Constant-acceleration velocity profile;
the specified jerk is used
Value = 0.0: Trapezoid velocity profile
Value < 0.0: The jerk configured in "Technology
object > Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
Done
OUTPUT
BOOL
FALSE
TRUE
Superimposed positioning complete
Busy
OUTPUT
BOOL
FALSE
TRUE
The job is being executed.
CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by
another job.