Impact of Superimposed Motion on Coordinated Moves and Queuing

Superimposed motion occurs when two separate motion planers are active concurrently, e.g. a
MAM and a MCLM.

In absolute mode all queued coordinated moves in absolute mode containing Termination
Types 2,3,4,5 or 6 are performed relative to a Motion Start Point (MSP). The MSP is established
at the absolute position of the axes when the first move in the queue containing on of these
Termination Types is planned. The position of the MSP is maintained for subsequent absolute
coordinated moves until one of the following conditions occurs:

 A move with Termination Types 0 or 1 is planned (NOTE: the move after the TT0/TT1 moves to
the programmed absolute endpoint.
 A merged move is planned
 The motion queue becomes empty

The original MSP is maintained as additional moves are enqueued when room in the queue
is/becomes available as moves are completed.The superimposed single axis motion will not
affect these subsequent absolute coordinated moves until the MSP is changed. Their absolute
endpoint will be relative to the established MSP.

This is best shown by example: If the following sequence of moves is executed,all in absolute
mode, then the path as shown below will remain intact if any superimposed move (such as the
vertical MAM in the figure below) is executed during the MCLM5 move. This figure is drawn on
a table stationary.

1) Path without MAM. (The MAM in the figure is not executed for this case)

1
2) The MAMin case 1 above is now executed during MCLM5. The MAM move starts and
finishes during MCLM5. The MAM moves the table in the +Y direction. This is view as
seen from the factory floor. The remainder of the path is shifted by the superimposed
motion.

Shifted path
End point of MCLM5
shifted by
MSP MAM Move

MCLM5 +MAM

MAM Move

3) The same setup as 2) but seen from the conveyor.

Note, if any path (example shown below, same as 1 above) isdrawn on a table which is movingin
either the X and/ Y direction as a result of superimposed motion, then the drawn pathon the
table would look exactly the same path as if it were drawn on a stationary table. This is always
true if allmoves in the path only use Termination Types 2 through 6, except the last one which
may use any Termination Type. Moves may be in either absolute or incrementalmode or any
combination thereof.

MCLM Moves
MSP

MCLM5

MAM Move

4) The same setup as 3) but a TT0 is used to terminate MCLM5. If the 5th MCLM move (the one
ending with a black circle contained TT0 or TT1 then the path would look like the figure
below. Note that the move after MCLM5 moves back to the original absolute position.
This is the path as seen by an observer on the factory floor.

2
MSP

MCLM5 + MAM

MAM Move