Delta DVP-15MC Series - Page 443

Chapter 10 Motion Control Function
10-7
1
0
execution of MC_MoveSuperimposed or MC_HaltSuperimposed.
 Example: 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.
 Aborting: Buffermode=mcAborting. See the examples of four cases as 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.
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.

 Buffered: Buffermode=mcBuffered. See two cases as below.
1. When the direction of the buffered
instruction is the same as that of the
current instruction
2. When the direction of the buffered
instruction is opposite to that of the
current instruction.
t
Curr ent
instruction
is started
The buffered instruction is star ted
and then starts to control the
axis im mediately.
Buffered i nstruction
V
Current
instruction
V
2
t
The buffered instruction is started
and then starts to control the
axis i mmediately.
Buffer ed instruction
V
Current
instruction
is star ted
Curr ent
instruction
V
2
V
1
t
Curr ent
instruction
is started
The buffered instruction is started
and then starts to control the
axis immediately.
Buffered instruction
V
Current
instruction
V
2
V
1
t
The buffer ed instru ction is star te d
a nd the n sta rts t o contro l the
axis imme dia tely.
Buffered i nstructi on
V
Current
instruction
is star ted
Current
instruction
V
1
V
2