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AH M o ti on Co n tro l ler – Op era tion Ma nua l
Buffermode = mcBuffered: see the two examples below.
1.
When the direction of the buffered instruction
is the same as that of the current instruction
V
V
2
V
1
Buffermode = mcBlendingLow: see the three examples below.
1.
When the velocity of the current instruction is
less than that of the buffered instruction.
V
V
2
V
1
3.
When the velocity direction of the current instruction is opposite to that of the buffered
instruction.
_7
7 - 1 4
When current i ns truc tion ex ecution
is c ompleted, the buffered i nstruc tion
starts to c ontrol the axis .
T he buffered
i nstruction
is s tarted
S2
Cur rent
ins truction
S 1
is s tarted
Curr ent
Buffered instruc ti on
ins truction
T he buffered i nstruction starts to control
the ax is when c urrent ins truction exec uti on
is c ompleted and the axis v eloc ity is the low er
of the tw o i nstruction vel ocities .
T he buffered
i nstruction
is s tarted
Current
S2
ins truc tion
is s tarted
S1
Cur rent
Buffered ins truc tion
i ns truction
V
T he buffer ed
i nstruction
is s tarted
V
1
C urrent
instruc ti on
i s started
V
2
2.
When the direction of the buffered instruction
is opposite to that of the current instruction.
V
V
1
Current
ins truc tion
i s s tarted
t
V
2
2.
When the velocity of the current instruction
is greater than that of the buffered
instruction.
V
T he buffered
i nstruction
is s tarted
V
1
V
2
Curr ent
ins truction
is s tarted
t
The moti on di rections of current instruc ti on
and buffered ins tr uction ar e oppos ite.
The buffered ins truc tion s tarts to control the
ax is w hen c urrent ins truction
S1
dec elerates till the veloc ity is 0.
Buffer ed ins truction
Current
ins truc tion
S2
T he buffer ed
instruc tion
is s tarted
When c ur rent ins truction ex ec ution is
is c ompl eted, t he buffer ed i nstruction
starts to c ontrol the ax is .
S1
Buffer ed ins truction
Current
ins tr uction
S2
T he buffered i nstruc tion s tar ts to c ontrol the axi s
when cur rent ins truc tion ex ecution is c ompleted
and the axis v eloc ity is the low er of the
tw o ins truction veloc ities .
S 1
S2
Curr ent
Buffered instruction
ins truction
t
t
t
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