Delta Electronics DVP15MC11T Operation Manual page 298


Blending with previous velocity: Buffermode=mcBlendingPrevious. See three cases as below.
1. When the target velocity of the current
instruction is less than that of the
buffered instruction.
V
T he buffer ed ins truction starts to c ontr ol the axis
when curr ent ins truc tion ex ecution is c ompleted and
the axis v eloc ity is that of the prev ious ins truction.
V
2
T he buffered
i nstruction
is s tarted
V
1
Current
ins truc tion
is s tarted
S1
Cur rent
i ns truction
3.
When the velocity direction of the current instruction is opposite to that of the buffered
instruction.

Blending with next velocity: Buffermode=mcBlendingNext. See three cases as below.
1.
When the target velocity of the current
instruction is less than that of the
buffered instruction
V
Cur rent ins tr uc tion ex ecution is c ompleted
and the buffered ins tr uction starts to control t
axi s when the ax is ac cel erates to the v eloc it
T he buffered
V
2
ins truction
is s tarted
V
1
C urrent
i nstruction
S1
is s tarted
Current
ins tr uction
S2
t
Buffered ins truc tion
V
T he buffer ed
i nstruction
is s tarted
V
1
C urrent
S1
instruc ti on
i s started
Current
ins truc tion
V
2
2.
of the next i ns truc tion.
S2
t
Buffered ins truc ti on
Chapter 10 Motion Control Function
2. When the target velocity of the current
instruction is greater than that of the
buffered instruction.
V
T he buffered i nstruction starts to c ontrol the axi s
The buffered
when cur rent ins tr uction exec uti on is c ompleted and
ins tr uction
the axi s vel ocity i s that of the pr evious i nstruction.
is s tar ted
V
1
V
2
Current
S1
ins truc tion
is s tarted
C urrent
i nstruction
T he motion direc tions of c urrent ins truction
and buffered i nstruc tion are opposite.
The buffered ins truc tion s tarts to control
the axis w hen current instruc ti on
deceler ates til l the v eloci ty i s 0.
Buffered instruc ti on
t
S2
When the target velocity of the current
instruction is greater than that of the
buffered instruction
V
The buffer ed
instruc ti on
C ur rent ins tr uction exec ution is c ompleted
i s started
and the buffered ins truction starts to control th
axis w hen the ax is v eloc ity is dec reased to the
v eloci ty o f the nex t ins truction.
V
1
V
2
Cur rent
S1
ins truction
is s tarted
Current
i ns truc ti on
S2
t
Buffered instruction
S 2
t
Buffered i nstruction
10-9
10