Delta AH Series Operation Manual page 142

AH M o ti on Co n tro l ler – Op era tion Ma nua l
3. When the velocity direction of the current instruction is opposite to that of the buffered
instruction

Buffermode = mcBlendingHigh: see the three examples below.
1. When the target velocity of the current
instruction is less than that of the buffered
instruction
V
T he buffered
V
2
i nstruction
is s tarted
V
1
Current
instruc ti on
i s started
3. When the velocity direction of the current instruction is opposite to that of the buffered
instruction
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7 - 1 6
V
T he buffered
i nstruction
is s tarted
V
1
Current
ins truc tion
S1
is s tarted
Current
instruction
V
2
T he buffer ed ins truction starts to control the axis
when current instruc ti on ex ecution is com pleted
and the axi s vel ocity r eaches the higher of
the two ins tr uction veloc ities .
S2
S1
t
Current
Buffer ed ins truction
instruc ti on
V
The buffered
ins tr uction
is s tar ted
V
1
C urrent
S1
instruc ti on
i s started
Curr ent
ins truction
V
2
T he buffer ed instruction s tarts to control the
ax is w hen the moti on dir ections of buffered
instruc ti on and curr ent instruc tion are
opposite and the v eloc ity of cur rent
ins tr uc tion i s decreas ed to 0.
Buffered ins tr uc tion
t
S2
2. When the target 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
Current
S1
ins tr uc tion
is s tar ted
Cur rent
t
i nstruction
T he buffered instruc ti on star ts to c ontrol the axi s
when the motion di rections of buffered
ins truc tion and cur rent ins tr uction ar e
opposi te and the veloc ity of c urrent
ins truction is decr eased to 0.
Buffered instruc ti on
t
S2
T he buffered ins truction starts to control the
ax is w hen c urrent i ns truction exec uti on is
c ompleted and the ax is v eloc ity is the
higher of the tw o i nstruction vel ocities .
S 2
t
Buffered i nstruc tion