LSIS XGT Series - Page 148

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Chapter 6 Motion Function Blocks

6-9

The Figure below shows that the case when running BufferMode of motion function block in the setting of ‘Buffered’. The Figure

in the left shows that motion function block ② is executed in the setting of 'Buffered’ while motion function block ① is running.

Motion function block ② is executed after motion function block ① has reached target position. The Figure in the right shows

that when ‘Buffered’ function block is executed, the next motion function block is executed after it reaches original target position.

2. TransitionMode “TMCornerDistance”

The radius of a connection track is specified and the connection track which draws a circle having specified radius is output. This

mode is operated only when BufferMode is “BlendingXXXX”, and it is operated in “TMNone” when BufferMode is “Aborting” or

“Buffered”.

When drawing a connection track, the maximum speed of the path complies with the specified speed in BufferMode, and the

length of radius complies with the value specified in TransitionParameter.

The Figure below shows the generation of a connection track which draws radius circle in two linear interpolation commands. The

Figure in the left shows that motion function block ② is executed in the setting of “TMcornerDistance” while motion function block

① is running. The original target position of motion function block ① was end point ① / starting point ②, but straight-line motion

is stopped and circular motion is started at the point ahead as far as radius 'd' (end point ①). Circular operation starts at end point

① and finishes at starting point ②, and executes motion function block ②.

The Figure in the right shows that the speed does not stop in the middle of two function blocks and continues.

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