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Bewegungssteuerung
AXIS_REF_LocalAxis
1. Instanz
First motion
Execute (go_REL)
Done
2. Instanz
Second motion
Execute (go_SUP)
Done
Command-
Aborted
Bewegungsablauf
Moving diagram
Velocity
Distance
178
MC_MoveSuperImposed
Execute : BOOL
Distance : REAL
Velocity : REAL
Acceleration : DINT
Deceleration : DINT
Jerk : DINT
JerkDecel : DINT
Axis : (VAR_IN_OUT)
1. Instanz
First motion
MC_MoveRelative
go_REL
Execute
Done
Command
50
Distance
Aborted
300. 0
Velocity
Error
100
Acceleration
100
Deceleration
1000
Jerk
1000
JerkDecel
Axis
1
0
1
0
1
0
1
0
1
0
400
300
200
100
0
70
50
0
1
2
3
190-120108N6 C3IxxT40 Dezember 2005
Done : BOOL
Busy : BOOL
CommandAborted : BOOL
Error : BOOL
MC_MoveSuperimp
go_SUP
Execute
10
Distance
100
Velocity
50
Acceleration
50
Deceleration
1000
Jerk
1000
JerkDecel
AXIS_REF_
Axis
LocalAxis
9
4
5
6
7
8
Compax3 T40
2. Instanz
Second motion
Done
Command
Aborted
Error
11
10
12
13
t
t
t
t
t
t
t
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