Delta DVP-15MC Series, Operation Manual

Page: 445 / 972

Chapter 10 Motion Control Function
10-9
10
3.
When the velocity direction of the current instruction is opposite to that of the buffered
instruction.

Blending with next velocity: Buffermode= mcBlendingNext . 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
3.
When the velocity direction of the current instruction is opposite to that of the buffered
instruction
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 fer ed ins t ruct ion st art s t o c ontr ol t he axis
when curr ent ins truc t ion ex ecut ion is c omplet ed and
t he axis v eloc it y is t hat of t he prev ious ins t ruct ion.
V
2
V
1
S1
S2
t
Buf fered inst ruct ion
V
Current
ins truc t ion
is s tart ed
C urrent
i nst ruct ion
The buff ered
ins tr uct ion
is s tar ted
T he buf f ered i nst ruct ion st art s t o c ont rol the axi s
when cur rent ins tr uct ion exec uti on is c omplet ed and
t he axi s vel ocit y i s t hat of t he pr evious i nst ruct ion.
V
1
V
2
S1
S2
t
Buff ered inst ruc ti on
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
T he mot ion direc t ions of c urrent ins t ruct ion
and buff ered i nst ruc tion are opposit e
.
The buff ered ins truc t ion s t arts to cont rol
t he axis w hen current inst ruc ti on
deceler ates t il l the v eloci ty i s 0
.
V
1
V
2
S1
S2
t
Buff ered i nst ruct ion
V
Cur rent
ins t ruct ion
is s t art ed
Current
i ns truc ti on
The buf f er ed
inst ruc ti on
i s st art ed
C ur rent ins tr uct ion exec ution is c omplet ed
and t he buf f ered ins t ruct ion st art s t o cont rol t h
axis w hen t he ax is v eloc it y is dec reased t o the
v eloci ty o f t he nex t ins t ruct ion.
V
1
V
2
S1
S 2
t
Buff ered ins truc ti on
V
C urrent
i nst ruct ion
is s t art ed
Current
ins tr uct ion
T he buff ered
ins t ruct ion
is s t arted
Cur rent ins tr uc t ion ex ecut ion is c omplet ed
and the buf fered ins tr uct ion st art s t o cont rol t
axi s when t he ax is ac cel erates t o t he v eloc it
of the next i ns truc t ion.
V
2
V
1
S1
S2