AH Motion Controller – Operation Manual 7.6 Buffer Mode During the execution of a motion control instruction, it is possible to execute other motion instructions for the same axis. There are 6 buffer modes for users to choose from, switching from one motion instruction being executed to another motion instruction. The buffer mode can be selected through the BufferMode parameter of the buffered motion instruction.Users can select the buffer mode according to the buffer mode of the later instruction. Terms used in the buffer mode are described below: Current motion instruction: the current motion instrtuction for controlling the axis Buffered instruciton:
the instruction is waiting to be executed. Transit velocity: the speed at which the axis moves at the moment when the currently being executed instruction is switched to the buffered instruction. Target velocity: the Velocity parameter of an instruction Target position: the Position or Distance parameter of the position-related instructions. _7 7-12 Buffer Mode Description 0: mcAborting (Aborting) The instruction being executed currently is aborted immediately. 1: mcBuffered (Buffered) The buffered instruction just starts to control the axis after the current instruction execution is completed. 2:
mcBlendingLow (Blend with low) The buffered instruction just starts to control the axis after the target position of the current instruction is reached. The transit velocity is the lower of the target velocities of the current instruction and buffered instruction. 3: mcBlendingPrevious (Blend with previous) The buffered instruction just starts to control the axis after the target position of the current instruction is reached. The transit velocity is the target velocity of the current instruction. 4: mcBlendingNext (Blend with next) The buffered instruction just starts to control the axis after the target position of the current instruction is reached.
The transit velocity is the target velocity of the buffered instruction. 5: mcBlendingHigh (Blend with high) The buffered instruction just starts to control the axis after the target position of the current instruction is reached. The transit velocity is the higher of the target velocities of the current instruction and buffered instruction.