Mc_Movesuperimposed; Mc_Movesuperimposed: Superimposed Positioning Of Axes V2 - Siemens SIMATIC S7-1500 Function Manual
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An axis is moved to absolute position 1000.0 with an "MC_MoveAbsolute" job (A1). When the axis reaches the
target position, this is signaled at time
with target position 1500.0 is started. When the axis reaches the target position 1500.0, this is signaled via
"Done_2". Since "Exe_2" was previously reset, "Done_2" is applied only to one cycle.
Section
A running "MC_MoveAbsolute" job (A1) is overridden at time
abort is signaled via "Abort_1". The axis is braked to the changed velocity and moved to the new target position
1500.0. When the new target position is reached, this is signaled via "Done_2".
11.1.7
MC_MoveSuperimposed
11.1.7.1
MC_MoveSuperimposed: Superimposed positioning of axes V2
Description
With the Motion Control instruction "MC_MoveSuperimposed", you can start a relative
positioning motion which is superimposed on a running basic motion.
Dynamic behavior during movement is defined with the parameters "VelocityDiff", "Jerk",
"Acceleration" and "Deceleration". The dynamic values are added to the values of the basic
motion. The duration of the basic motion is not extended by a superimposed motion.
The dynamic of the total axis motion is the sum of the dynamic values of the basic motion
and the superimposed motion.
The behavior of the total motion depends on the type of basic motion:
● The basic motion is a single-axis motion:
● The basic motion is a synchronous motion:
It is always the dynamic of the total motion that is displayed in the technology data block and
in the TIA Portal.
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
– The maximum dynamic of the superimposed motion is the difference between the
current dynamic values of the basic motion and the dynamic limits.
– The entire motion is limited to the configured dynamic limits.
– The maximum dynamic of the superimposed motion is the difference between the
current dynamic values of the basic motion and the dynamic limits.
– The synchronous motion of the following axis is not limited to the dynamic limits of the
following axis.
– A "MC_MoveSuperimposed" job on a lead axis in synchronous operation affects the
lead axis and the following axis.
– A "MC_MoveSuperimposed" job on a following axis in synchronous operation only
affects the following axis.
①
via "Done_1". At this time ①, another "MC_MoveAbsolute" job (A2)
②
11.1 S7-1500 Motion Control V2
by another "MC_MoveAbsolute" job (A2). The
Instructions
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