Danfoss VLT Series Programming Manual page 208

Programming
MC_MoveRelative with BufferMode = Buffered
The potentially ongoing positioning is finished first. The original target position is reached and the velocity in this target
position is 0. The new target position is the set position of the axis at the point of the rising edge of Execute of the function
block, plus the value of the Distance input of MC_MoveRelative_ISD51x. This means that it is the exact same end position as
with BufferMode = mcAborting_ISD51x.
The trajectory parameters (Velocity, Acceleration, and Deceleration) are only used for the 2
If the function block is activated in the axis state ContinuousMotion, the specified relative distance is added to the set
position at the point of the rising edge of Execute. This applies both for buffer modes Buffered and Aborting.
6 6
FB1.
Execute
FB1.
Done
FB1.
Command
Aborted
FB2.
Execute
FB2.
Done
FB2.
Active
Illustration 6.64 Buffered versus Aborting with MC_MoveRelative
206
®
VLT Integrated Servo Drive ISD
Execute
Command
Aborted
Execute
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®
510 System
nd
movement.
FB1.
FB1.
Done
FB1.
FB2.
FB2.
Done
FB2.
Active
MG36D102