Delta Electronics DVP15MC11T Operation Manual page 300

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Buffer Modes that various instructions support
The buffer mode of the current instruction and buffered instruction is set by modifying the value of the
BufferMode parameter. The value of BufferMode of the buffered instruction is selected according to the buffer
mode that current instruction supports and the BufferMode parameter of the current instruction is invalid.
For example:
The BufferMode of MC_MoveRelative supports mcAborting, mcBuffered, mcBlendingLow,
mcBlendingPrevious, mcBlendingNext and mcBlendingHigh. The BufferMode of MC_MoveVelocity supports
mcAborting and mcBuffered.
Case 1： If MC_MoveRelative is the current instruction and MC_MoveVelocity is the buffered instruction. The
BufferMode parameter of MC_MoveVelocity can select one of mcAborting, mcBuffered,
mcBlendingLow, mcBlendingPrevious, mcBlendingNext and mcBlendingHigh.
Case 2： If MC_MoveVelocity is the current instruction and MC_MoveRelative is the buffered instruction. The
BufferMode parameter of MC_MoveRelative can select one of mcAborting and mcBuffered.
The buffer mode of the buffered instruction can be selected according to the current instruction as listed
below.
Current instruction
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_MoveSuperimposed
MC_HaltSuperimposed
MC_MoveVelocity
MC_Home
MC_Halt
MC_ GearIn
MC_ GearOut
MC_CombineAxes
MC_ CamIn
MC_ CamOut
1
* : The BufferMode parameter of the buffered instructions MC_GearIn, MC_CamIn and MC_CombineAxes
can only choose mcAborting and mcBuffered.
Whether the current instruction execution has been completed or not depends on the completion output
parameter of the instruction. As the completion output parameter is TRUE, it indicates that the instruction
execution is completed and the buffered instruction execution starts.
Chapter 10 Motion Control Function
The selectable BufferMode value of the buffered
instruction
【mcAborting, mcBuffered, mcBlendingLow,
mcBlendingPrevious, mcBlendingNext,
mcBlendingHigh】*
【mcAborting, mcBuffered, mcBlendingLow,
mcBlendingPrevious, mcBlendingNext,
mcBlendingHigh】*
【mcAborting, mcBuffered, mcBlendingLow,
mcBlendingPrevious, mcBlendingNext,
mcBlendingHigh】*
mcAborting
mcAborting
mcAborting, mcBuffered
Only the MC_Stop instruction can abort the
MC_Home instruction.
mcAborting, mcBuffered
mcAborting, mcBuffered
mcAborting, mcBuffered
mcAborting, mcBuffered
mcAborting, mcBuffered
mcAborting, mcBuffered
1
1
1
10
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