Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 130)

L-force | PLC Designer - SoftMotion
The SM_PLCopen.lib library
POUs for the motion control of individual axes
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DMS 5.2 EN 03/2011 TD17
6.2.18 MC_MoveSuperImposed
Where applicable, this program organisation unit from SM_PLCopen.lib executes a motion
in addition to the currently active motion, which moves the axis across a defined distance.
The specified velocity, acceleration and deceleration values must be regarded as relative
values, i.e. they are independent of the underlying motion.
The program organisation unit that was originally active will not be interrupted by
MC_MoveSuperImposed. If it is interrupted by another program organisation unit whilst
MC_MoveSuperImposed is active, the MC_MoveSuperImposed motion will be aborted.
Please note that MC_MoveSuperImposed must be called after the program organisation
unit generating the underlying motion.
Input/output (VAR_IN_OUT)
Axis : AXIS_REF
The structure that is filled with axis data in the Drive Interface (SM_DriveBasic.lib) is shown
here.
Inputs (VAR_IN)
Execute : BOOL (default: FALSE)
The program organisation unit is activated on a rising edge.
Distance : REAL
Relative distance for the motion (technical unit [u])
VelocityDiff : REAL
Maximum velocity difference in relation to the current motion that does not necessarily
have to be reached [u/s]
Acceleration : REAL
Desired acceleration [u/s²]
Deceleration : REAL
Desired deceleration [u/s²]