Commanding Multiple Movements :

Overview BufferMode Some function blocks have a BufferMode input which is used to control the chronological order of movements. The buffer mode defines whether the function block works in non-buffered

Behavior in the Case of Buffered Movements When a buffered movement is commanded after MC_MoveAbsolute or MC_MoveRelative , the buffered movement is active in the same cycle where the previous movemen

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