Delta AX Series Instruction Manual page 41

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
Name Function
Specify the
Axis
axis.
*Note: AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
Function

The input values of VelocityDiff, Distance, Acceleration, Deceleration and Jerk are superimposed on the on-going

motion of the previous instruction.
If executing MC_MoveSuperImposed block in Standstill state, the function will be identical to MC_MoveRelative.

MC_MoveSuperImposed can be aborted by other function blocks.

An error will occur when MC_MoveSuperImposed is repeatedly run on the same axis.

If changing the input values during the execution of MC_MoveSuperImposed or re-execute the function block before

the instruction finished, the axis will react according to the new superimposed values and instruction, which are the
sum of the previous instruction and MC_MoveSuperimposed instruction. When the superimposed distance is reached,
the axis will resume the operation of the previous instruction until the superimposed total distance is reached.
MC_MoveSuperimposed and the function block, which is previously run, will be interrupted if a new function block has

started while MC_MoveSuperimposed is superimposed on other function blocks.
Troubleshooting

If an error occurs during the execution of the instruction, Error will change to True. You can refer to ErrorID (Error

Code) to address the problem.
Example

The example below describes the behavior of MC_MoveSuperImposed applied to MC_MoveVelocity.

Timing Diagram

Data Type
AXIS_REF_SM3* AXIS_REF_SM3
Setting Value
(Default Value)
When Execute turns to True and Busy is
False.
Ch a p t er 2
Timing to Take Effect
3 6