Vector VEC-VA Series User Manual

VA Motion Controller Programming Manual
290
11.3.7 BufferMode Features
For the same axis, when there is a motion command control axis during the motion, other
motion commands can be started. When the two motion commands are handed over, there are two
options for the handover mode. The handover mode can be based on the BufferMode of the latter
motion command. Pin parameter settings to choose from. The meaning of the BufferMode related
terms is as follows:
1. Current command: motion command of the current control axis
2. Handover instructions: instructions waiting to be executed
3. Handover speed: the speed at which the current command switches to the handover command
4. Target speed: Velocity pin parameters in the instruction
5. Target position: Position or Distance pin parameters in the displacement related instruction.

Two kinds of transfer mode
Transfer mode
Action Description
0: mcAborting
(interrupt)
Immediate action to interrupt the current instruction execution and
delivery instructions
1: mcBuffered
(wait)
Wait for the current instruction execution after the normal action,
and execute the handover command immediate action
 note
The same axis only supports the first-level BufferMode buffer: For the motion instruction with
BufferMode, if the motion instruction 2 with BufferMode=1 is used to transfer the motion
instruction 1, and the motion instruction 2 has not been executed, the motion instruction of
BufferMode=1 is executed at this time. Invalid and error, but does not affect the execution of
instruction 1 and instruction 2.
Program example:
Brief description of BufferMode with two relative displacement instructions.The first relative
displacement command speed is v1, the displacement is S1, the second relative displacement
command speed is v2, and the displacement is S2. Changing the BufferMode of the second
displacement instruction makes the two instructions have different handover procedures, as
explained below:
 When BufferMode=0, the following four situations are explained:
1, when the current interrupt command acceleration
2, the current instruction uniform stage interrupted
transport

Vector VEC-VA Series Specifications

General

Brand	Vector
Model	VEC-VA Series
Category	Controller
Language	English