Delta DVP-15MC Series, Operation Manual

Page: 444 / 972

DVP-15MC Series Motion Controller Operation Manual
10-8
10

Blending with low velocity: Buffermode= mcBlendingLow . See three cases as below.
1. When the velocity of the current
instruction is less than that of the
buffered instruction. 2. When the velocity of the current
instruction is greater than that of the
buffered instruction.
3. When the velocity direction of the current instruction is opposite to that of the buffered
instruction.

Blending with previous velocity: Buffermode= mcBlendingPrevious . See three cases as 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
Cur rent
ins t ruct ion
is s t art ed
When current i ns truc t ion ex ecut ion
is c omplet ed, t he buff ered i nst ruc tion
st art s t o c ont rol t he axis
.
Buff ered inst ruc ti on
V
Curr ent
ins t ruct ion
T he buf fered
i nst ruct ion
is s t art ed
V
2
V
1
S 1
S2
t
When c ur rent ins t ruct ion ex ec ut ion
is c ompl eted, t he buf f er ed i nst ruct io
st art s to c ont rol t he ax is
.
Buf fer ed ins t ruct ion
V
Current
ins truc t ion
i s s tart ed
Current
ins tr uct ion
T he buf fer ed
inst ruc tion
is s t art ed
V
1
V
2
S1
S2
t
Buff ered ins truc t ion
V
Current
ins truc t ion
is s tart ed
Cur rent
i ns t ruct ion
T he buf fered
i nst ruct ion
is s t art ed
T he buf f ered i nst ruct ion st art s t o cont rol
t he ax is when c urrent ins t ruct ion exec uti on
is c omplet ed and t he axis v eloc it y is t he low er
of the tw o i nst ruct ion vel ocit ies
.
V
2
V
1
S1
S2
t Buffer ed instr uction
V
Curr ent
ins t ruct ion
is s t arted
Curr ent
ins t ruct ion
T he buf fered
i nst ruct ion
is s t art ed
T he buff ered i nst ruc tion s tar ts t o c ontrol t he axi s
when cur rent ins truc t ion ex ecut ion is c omplet ed
and t he axis v eloc it y is t he low er of the
tw o ins t ruct ion veloc it ies
.
V
1
V
2
S 1
S2
t
Buf f er ed ins t ruct ion
V
C urrent
inst ruc ti on
i s st art ed
Current
ins truc t ion
T he buf fer ed
i nst ruct ion
is s t art ed
The moti on di rect ions of current inst ruc ti on
and buf fered ins tr uct ion ar e oppos it e
.
The buf fered ins truc t ion s t art s t o cont rol the
ax is w hen c urrent ins t ruct ion
dec elerat es t ill t he veloc it y is 0
.
V
1
V
2
S1
S2