Delta DVP-15MC Series, Operation Manual

Page: 446 / 972

DVP-15MC Series Motion Controller Operation Manual
10-10
10

Blending with high velocity: Buffermode= mcBlendingHigh . 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

Buffer Modes that various instructions support
The buffer mode of the current instruction and buffered instruction is set by modifying the value of the
BufferMode parameter. The value of BufferMode of the buffered instruction is selected according to the buffer
mode that current instruction supports and the B ufferMode parameter of the current instruction is invalid.
t
Buff ered ins tr uc t ion
V
Current
ins truc t ion
is s tart ed
Current
inst ruct ion
T he buf fered
i nst ruct ion
is s t art ed
T he buf fer ed inst ruct ion s tart s t o cont rol t h
ax is w hen t he moti on dir ect ions of buf f ere
inst ruc ti on and curr ent inst ruc t ion are
opposit e and t he v eloc it y of cur rent
ins tr uc t ion i s decreas ed t o 0
.
V
1
V
2
S1
S2
t
Buf fer ed ins t ruct ion
V
Current
inst ruc ti on
i s st art ed
Current
inst ruc ti on
T he buf fered
i nst ruct ion
is s t art ed
T he buf f er ed ins t ruct ion st art s t o cont rol t he ax
when current inst ruc ti on ex ecut ion is com plet e
and the axi s vel ocit y r eaches t he higher of
t he t wo ins tr uct ion veloc it ies
.
V
2
V
1
S1
S2
t
t
Buff ered i nst ruc tion
V
Current
ins tr uc t ion
is s tar ted
Cur rent
i nst ruct ion
T he buf fered
i nst ruct ion
is s t art ed
T he buf f ered ins t ruct ion st art s t o cont rol t h
ax is w hen c urrent i ns t ruct ion exec uti on is
c omplet ed and t he ax is v eloc it y is t he
higher of t he tw o i nst ruct ion vel ocit ies
.
V
1
V
2
S1
S 2
t
Buff ered inst ruc ti on
V
C urrent
inst ruc ti on
i s st art ed
Curr ent
ins t ruct ion
The buff ered
ins tr uct ion
is s t ar ted
T he buf f ered inst ruc ti on st ar ts t o c ontrol t he
when t he mot ion di rect ions of buf f ered
ins truc t ion and cur rent ins tr uct ion ar e
opposi te and t he veloc it y of c urrent
ins t ruct ion is decr eased to 0
.
V
1
V
2
S1
S2