4. Motion Control Instructions 4.4.4. MC_MoveSuperImposed Explanation of the Instruction: MC_MoveSuperImposed is applied to control the terminal actuator to chase for a given distance at a given speed, acceleration and deceleration in current motion status. When this instruction is executed, the execution of the former instruction will not be terminated, the two instructions will be executed together, the distance, velocity, acceleration and deceleration will enter the real-time superposition. When one of the two instructions reaches the given velocity, the acceleration will become 0.
When the execution of one instruction is finished, the speed, acceleration and deceleration will not be superimposed any more and meanwhile, the other instruction is still being executed independently. Explanation of input and output parameter of the instruction: DVP-MC operating manual 4-23 API Superimposed motion Controller MC MoveSuperImposed 04 _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Execute This instruction is executed when “Execute” turns from Off to On. BOOL M,I,Q, Constant Distance The additive distance for terminal actuator with the unit: Unit.
REAL Constant, D Velocity The additive speed for terminal actuator and this parameter is always positive.(Unit: unit/second) REAL Constant, D Accelerati on Additional acceleration of terminal actuator and this parameter is always positive.(Unit: unit/second2) REAL Constant, D Decelerati on Additive deceleration of terminal actuator and this parameter is always positive.(Unit: unit/second2) REAL Constant, D Done When the execution of MC MoveSuperImposed is _ completed, "Done" turns on; when “Execute” is off, "Done" is reset. BOOL M,Q Abort When this instruction execution is aborted, "Abort" turns on; when “Execute” is off, "Abort" is reset.
BOOL M,Q Busy When the instruction execution is aborted, "Busy" turns on; when “Done” is on or “Execute” is off, “Busy” is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when “Execute” is off, "Error" is reset. BOOL M,Q