The superimposed move feature of the RMC allows for, at most, two moves to be executed on a single axis at one time. This consists of a base move (geared, speed control, spline, or sine move) with a superimposed move (spline or sine move). If the superimposed move is still in progress when another superimposed move command is attempted, this parameter error is given. You must first wait until the superimposed-move command is completed. If you wish to take over control of the axis with the command, leave the superimposed mode bit cleared when issuing the command.
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