Yaskawa MotionWorks IEC - Manual (Page 109)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 101
• If MC_MoveSuperImposed is active and another MC_MoveSuperImposed
is commanded, only the on-going MC_MoveSuperImposed command is
aborted, and replaced by the new MC_MoveSuperImposed, the underlying
motion command continues.
• In the 'StandStill' motion state, MC_MoveSuperimposed acts like
MC_MoveRelative .
• The values of Acceleration, Deceleration, and Jerk are additional values
to the on-going motion, and not absolute ones. With this, the underlying
FB always finishes its job in the same period of time regardless of whether
a MC_MoveSuperimposed FB takes place concurrently.
• When used while gearing, MC_MoveSuperimposed acts on the slave axis,
while MC_Phasing acts on the master side, as seen from the slave.
• The output “Active” has a different behavior as in buffered FBs.
Related Function Blocks
MC_GearInPos : Slave Axis position adjustment made to achieve position
synchronization over a defined region of travel for both master and slave.
Y_CamShift : Dynamically modifies the master - slave relationship by
adding a perceived offset to the master position, effectively causing the
slave to advance or retard from the originally specified synchronization
data in the cam data table.