Override Behavior; Interactions Between The Path Object And The Axis - Siemens SIMOTION Function Manual

Programming/homing path interpolation
5.1 Programming
5.1.3.2

Override behavior

The response to command insertion is defined in the mergeMode command parameter.
● Override current interpolator command
● Overwrite commands in the buffer
This command is executed as soon as the current interpolator command has been
executed.
● Append to commands already in the buffer
(mergeMode:=SEQUENTIAL)
If the buffer is full, the command can wait until an entry becomes available or the
command execution can continue without a wait time.
Commands are decoded in the task context, i.e. in the execution level of the user task that
issued the command (before it is entered in the command buffer).
mergeMode has the same settings and action as in the Axis technology object.
5.1.4

Interactions between the path object and the axis

5.1.4.1

Override behavior

The response to other active motions on the axis is defined with the mergeMode parameter
of the path object motion command.
With the substitute setting, all active assigned axis motions are canceled (as a function of the
transferSuperimposedPosition setting in the configuration data).
● When a path motion is substituted by an additional path command, an immediate
● When a path is substituted by a motion command, such as _move...(), the other axes
134
(mergeMode:=IMMEDIATELY)
(mergeMode:=NEXT_MOTION)
transition takes place to the path that yields the new end point at the point of the
substitution.
involved in the path motion and, if applicable, the positioning axis for path-synchronous
motion stop with the maximum dynamic values.
The action of the other override responses is the same as for synchronous operation.
The following applies when motion commands occur simultaneously on the respective
object within one interpolation cycle, i.e. one on the synchronous object, one on the path
object, and one on the axis:
– When mergeMode=SEQUENTIAL/NEXT_MOTION, the synchronous/path command
is executed.
– When mergeMode=IMMEDIATELY, the command on the axis is executed.
TO Path Interpolation
Function Manual, 11/2010