Delta AH Series Operation Manual page 139


Demonstration: Using two MC_MoveRelative instructions for explanation
The maximum velocity of the first MC_MoveRelative instruction is V
the second MC_MoveRelative instruction is V
MC_MoveRelative instruction, you can get different blending processes of the two instructions. See details as
below.

Buffermode = mcAborting: see the four examples below.
1. Current instruction is aborted while the
controlled axis is accelerating.
V
V
2
Curr ent
ins truction
The buffer ed ins tr uction is s tar ted
is s tarted
C urrent
i nstruc tion
3. Current instruction is aborted while the
controlled axis is decelerating.
V
V
2
V
1
Curr ent
ins truction
is s tarted
Current
ins tr uction
and distance is S
2
and then starts to contr ol the
ax is im mediately.
Buffered i ns truction
The buffered ins truction is s tarted
and then starts to contr ol the
ax is i mmediately.
Buffered ins truction
Ch ap te r 7 M oti on Co n tro l Prog ram m ing
and distance is S
1
. Modifying the value of BufferMode of the second
2
2. Current instruction is aborted while the
controlled axis is moving at a constant
velocity.
V
V
2
V
1
Current
ins tr uction
is s tar ted
Curr ent
t
ins truction
4. The velocity direction of the buffered
instruction is opposite to the current
instruction.
V
V
1
Current
ins tr uction
is s tar ted
C urrent
instruc ti on
t
V
2
. The maximum velocity of
1
The buffered i nstruction is s tarted
and then starts to control the
ax is i mmediately.
t
Buffer ed ins truction
T he buffer ed ins tru cti on i s s tar te d
a nd the n s ta rts t o c ontro l the
ax is i m me dia tely.
t
Buffered i nstruc ti on
7 - 1 3
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