Chapter 7 Motion Control Programming Buffermode = mcBlendingPrevious: see the three examples below. Buffermode = mcBlendingNext: see the three examples below. 7_ 7-15 1. When the target velocity of the current instruction is less than that of the buffered instruction. 1. When the target velocity of the current 2. When the target velocity of the current instruction is less than that of the buffered instruction is greater than that of the buffered instruction. instruction V The buffer ed instruction starts to contr ol the axis when curr ent instruction execution is completed and the axis velocity is that of the previous instruction.
V 2 The buffered i nstruction is started V 1 Current S2 instruction is started S1 Cur rent Buffered instruction t i nstruction V The buffered i nstruction starts to control the axi s The buffered when cur rent instr uction executi on is completed and instr uction the axi s vel ocity i s that of the pr evious i nstruction. is star ted V 1 V 2 Current S1 instruction is started S2 C urrent Buffered instruction t i nstruction 3. W hen the velocity direction of the current instruction is opposite to that of the buffered instruction. V The buffer ed i nstruction is started V 1 The motion directions of current instruction and buffered i nstruction are opposite.
The buffered instruction starts to control inC tu rurr ce tn ot S1 th de ca ex leis aw eh se n c u thrr ee vn et loin cs t tyru ic st i o .n s i n e r t t il l i 0 i s started Buffered instructi on Current t instruction S2 V 2 Current instruction is started S 1 1. W i i hen the target velocity of the current 2. i i When the target velocity of the current nstruction is less than that of the buffered nstruction is greater than that of the buffered nstruction nstruction V Cur rent instr uction execution is completed and the buffered instr uction starts to control the axi s when the axis accel erates to the velocity of the next i nstruction.
V The buffered 2 instruction is started V 1 S2 C urrent i nstruction is started S1 inC su tr r ure ctn iot n Buffered instructi on t V The buffer ed instructi on i s started C ur rent instr uction execution is completed and the buffered instruction starts to control the axis w hen the axis velocity is decreased to the V veloci ty o f the next instruction. 1 V 2 Cur rent instruction S1 is started S2 t Current Buffered i nstruction i nstructi on Cur rent instruction is started S1