Chapter 7 Motion Control Programming Demonstration: Using two MC_MoveRelative instructions for explanation The maximum velocity of the first MC_MoveRelative instruction is V 1 and distance is S 1 . The maximum velocity of the second MC_MoveRelative instruction is V 2 and distance is S 2 . Modifying the value of BufferMode of the second MC_MoveRelative instruction, you can get different blending processes of the two instructions. See details as below. Buffermode = mcAborting: see the four examples below. 7_ 7-13 2. Current instruction is aborted while the controlled axis is moving at a constant velocity.
V V 2 Curr ent instruction The buffer ed instr uction is star ted is started and then starts to contr ol the axis im mediately. C urrent Buffered i nstruction t i nstruction V V 2 V 1 Current instr uction The buffered i nstruction is started is star ted and then starts to control the axis i mmediately. Curr ent Buffer ed instruction t instruction 3. Current instruction is aborted while the 4. The velocity direction of the buffered i i nstruction is opposite to the current n V V 2 V 1 Curr ent instruction is started The buffered instruction is started and then starts to contr ol the axis i mmediately.
Current Buffered instruction t instr uction V The buffer ed instru cti on i s star te d a nd the n sta rts t o contro l the axis i m me dia tely. V 1 Current instr uction is star ted C urrent Buffered i nstructi on t instructi on V 2