Delta AH Series User Manual

Chapter 7 Motion Control Programming
7-13
7_
 Demonstration: Using two MC_MoveRelative instructions for explanation
The maximum velocity of the first MC_MoveRelative instruction is V
1
and distance is S
1
. The maximum velocity of
the second MC_MoveRelative instruction is V
2
and distance is S
2
. Modifying the value of BufferMode of the second
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.
2. Current instruction is aborted while the
controlled axis is moving at a constant
velocity.
t
Curr ent
instruction
is started
The buffered instruction is star ted
and then starts to contr ol the
axis im mediately.
Buffered instruction
V
Current
instruction
V
2
t
The buffered i nstruction is started
and then starts to control the
axis i mmediately.
Buffer ed instruction
V
Current
instruction
is started
Curr ent
instruction
V
2
V
1
3. Current instruction is aborted while the
controlled axis is decelerating.
4. The velocity direction of the buffered
instruction is opposite to the current
instruction.
t
Current
instruction
is started
The buffered instruction is started
and then starts to control the
axis i mmediately.
Buffered instruction
V
Current
instr uction
V
2
V
1
t
The buffer ed instru cti on is star te d
a nd the n sta rts t o contro l the
axis i m me dia tely.
Buffered i nstruction
V
Current
instruction
is star ted
Current
instruction
V
1
V
2

Delta AH Series Specifications

General

Brand	Delta
Model	AH Series
Category	Controller
Language	English