AH Motion Controller – Operation Manual Buffermode = mcBlendingHigh: see the three examples below. _7 7-16 3. When the velocity direction of the current instruction is opposite to that of the buffered instruction V The buffered i nstruction is started V 1 The buffer ed instruction starts to control the axis w hen the moti on dir ections of buffered instructi on and curr ent instruction are Current opposite and the velocity of cur rent instruction S1 instr uction i s decreased to 0. is started Buffered instr uction Current t instruction S2 V 2 1. When the target velocity of the current 2.
When the target velocity of the current instruction is greater than that of the instruction buffered instruction V The buffer ed instruction starts to control the axis when current instructi on execution is com pleted and the axi s vel ocity r eaches the higher of the two instr uction velocities. V The buffered 2 i nstruction is started V 1 Current S2 instructi on i s started S1 t Current Buffer ed instruction t instructi on V The buffered instruction starts to control the The buffered axis w hen current i nstruction executi on is i nstruction completed and the axis velocity is the is started higher of the tw o i nstruction vel ocities.
V 1 V 2 Current S1 instr uction is star ted S2 Cur rent Buffered i nstruction t i nstruction 3. When the velocity direction of the current instruction is opposite to that of the buffered instruction V The buffered instr uction is star ted The buffered instructi on star ts to control the axi s V 1 when the motion di rections of buffered instruction and cur rent instr uction ar e opposi te and the velocity of current instruction is decr eased to 0. C urrent S1 instructi on i s started Buffered instructi on Curr ent t instruction S2 V 2 Current S instr uction is star ted 1