Delta AH Series User Manual

Chapter 7 Motion Control Programming
7-15
7_
 Buffermode = mcBlendingPrevious: see the three examples below.
1. When the target velocity of the current
instruction is less than that of the buffered
instruction.
2. When the target velocity of the current
instruction is greater than that of the buffered
instruction.
t
Buffered instruction
V
Current
instruction
is started
Cur rent
instruction
The buffered
instruction
is started
The buffer ed instruction starts to control the axis
when curr ent instruction execution is completed and
the axis velocity is that of the previous instruction.
V
2
V
1
S1
S2
t
Buffered instruction
V
Current
instruction
is started
Current
instruction
The buffered
instruction
is started
The buffered instruction starts to control the axi s
when cur rent instruction execution is completed and
the axi s vel ocity is that of the pr evious instruction.
V
1
V
2
S1
S2
3. When the velocity direction of the current instruction is opposite to that of the buffered
instruction.
t
Buffered instruction
V
Current
instruction
is started
Current
instruction
The buffer ed
instruction
is started
The motion directions of current instruction
and buffered i nstruction are opposite.
The buffered instruction starts to control
the axis w hen current instruction
deceler ates til l the veloci ty is 0.
V
1
V
2
S1
S2
 Buffermode = mcBlendingNext: see the three examples below.
1. When the target velocity of the current
instruction is less than that of the buffered
instruction
2. When the target velocity of the current
instruction is greater than that of the buffered
instruction
tBuffered instruction
V
Cur rent
instruction
is started
Current
instruction
The buffered
instruction
is started
Cur rent instruction execution is completed
and the buffered instruction starts to control the
axis when the axis velocity is decreased to the
veloci ty o f the next instruction.
V
1
V
2
S1
S2
t
Buffered instruction
V
Current
instruction
is started
Current
instruction
The buffered
instruction
is started
Cur rent instruction execution is completed
and the buffered instruction starts to control the
axi s when the axis accelerates to the velocity
of the next i nstruction.
V
2
V
1
S1
S2

Delta AH Series Specifications

General

Brand	Delta
Model	AH Series
Category	Controller
Language	English