MC_MoveSuperimposed, MCP_MoveSuperimposed

MC_MoveSuperimposed, MCP_MoveSuperimposed – Superimposed move

Block SymbolsLicensing group: MOTION CONTROL

Function Description

The MC_MoveSuperimposed and MCP_MoveSuperimposed blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_MoveSuperimposed block moves an axis to specified position as fast as possible (with respect to set limitations). Final position is specified by input parameter Distance. In case that the axis is already in motion at the moment of execution of the MC_MoveSuperimposed block, the generated values of position, velocity and acceleration are added to the values provided by the previous motion block. If there is no previous motion, the block behaves in the same way as the MC_MoveRelative command.

Note:There is no BufferMode parameter which is irrelevant in the superimposed mode. If there is already an superimposed motion running at the moment of execution, the new block is started immediately (analogous to aborting mode).

Inputs

uAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
Execute	The block is activated on rising edge	Bool
Distance	Requested target distance (relative to execution point) [unit]	Double (F64)
VelocityDiff	Maximal allowed velocity [unit/s]	Double (F64)
Acceleration	Maximal allowed acceleration [unit/s $^{2}$ ]	Double (F64)
Deceleration	Maximal allowed deceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)

Outputs

yAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
Done	Algorithm finished	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

Example

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