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MC_MoveSuperimposed, MCP_MoveSuperimposed –  Superimposed move

Block SymbolsLicensing group: MOTION CONTROL
Qt SVG Document Exported by REXYGEN Studio uAxis Execute Distance VelocityDiff Acceleration Deceleration Jerk yAxis Done CommandAborted Busy Active Error ErrorID MC_MoveSuperimposed Qt SVG Document Exported by REXYGEN Studio uAxis Execute yAxis Done CommandAborted Busy Active Error ErrorID MCP_MoveSuperimposed

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/s2]

Double (F64)

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

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
image/svg+xmlvelocity_diff2 15 velocity1 30 position2 150 position1 100 mode1 2 deceleration2 10 deceleration1 20 acceleration2 25 acceleration1 50 MC_MoveSuperimposed − block 2 uAxisExecuteDistanceVelocityDiffAccelerationDecelerationJerkyAxisDoneCommandAbortedBusyActiveErrorErrorID MC_MoveRelative − block 1 uAxisExecuteDistanceVelocityAccelerationDecelerationJerkBufferModeyAxisDoneCommandAbortedBusyActiveErrorErrorID Execute2 [execute2] Execute1 [execute1] Axis [axis]

image/svg+xml0 5 10 15 0 0.5 1 Execute − block 1 bool 0 5 10 15 0 0.5 1 Active − block 1 bool 0 5 10 15 0 0.5 1 Done − block 1 bool 0 5 10 15 0 0.5 1 Execute − block 2 bool 0 5 10 15 0 0.5 1 Active − block 2 bool 0 5 10 15 0 0.5 1 Done − block 2 bool 0 5 10 15 0 50 Commanded velocity velocity velocity2velocity1 0 5 10 15 0 100 200 300 Commanded positionTime [s] position

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