Behavior in the Case of Blending A basic property of the blending behavior of CODESYS SoftMotion is that the axis moves along the same positions during blending as during a buffered movement. The only
Buffering/Blending from Continuous or Synchronized Movement According to PLCopen, the blending buffer mode determines the velocity at the end of the first movement. In some cases, the velocity is alre
Execution Order of Movement Function Blocks When buffered movements or blending movements are commanded, the function block instance that commands the subsequent movement must not be executed earlier
Using One Function Block Instance to Control Multiple Movements A single function block instance (for example, from MC_MoveAbsolute ) cannot be used to control multiple buffered/blending movements as
Behavior in Case of Error If an axis error occurs (for example, the axis switches to the state Errorstop ), the active movement will report an error along with all other accepted movements. If an FB e
Behavior of MC_MoveSuperImposed and MC_HaltSuperImposed If MC_MoveSuperImposed or MC_HaltSuperImposed is active and the underlying movement is aborted, then MC_MoveSuperImposed / MC_HaltSuperImposed i
Dynamic Adaptation with MC_SetOverride The dynamics (velocity, acceleration, and jerk) of the active and future movements can be adapted by using MC_SetOverride . An adaptation of the dynamics always
Forecast The forecast function can be used to query information about the future movement of an axis. An important application of forecast is to determine the time until a position is reached (similar
Performance POUs which use the AXIS_REF_SM3 function block always check whether or not they are called from the bus cycle task. This check can be disabled for time-critical applications by means of th
