Delta AX-3 Series, Руководство по эксплуатации

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A X - 3 S e r i e s O p e r a t i o n M a n u a l
7 - 5 6
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7.6.3.4 Multi-execution of Motion Control Instructions
This section describes executing multiple motion control instructions for the same axis or axis group within the
same scan period
.

In the following programming, instruction instances Move1 and Move2 start in the same task period when
contact A turns ON.

According to the ladder logic, instructions in a program are executed from the top. Therefore Motion1 starts
first, and then Motion 2 will be executed once Motion 1 is finished.

This is considered multi-execution of motion control instructions. Since the motion combination is
dertermined by input variables of BufferMode, BufferMode setting in Motion 2 is used to execute Motion 2 in
relation to Motion 1.
Con tact A
Moti o n 1
Mo tio n 2
Buff erMode
Abort
Ax is 1
Ax is 1
7.6.3.5 Synchronous Execution Eehavior of Motion Instructions
▓
Single Axis Buffer Mode
You can execute another motion control instruction while an axis is moving. A total of six types of BufferMode can
be chosen to proceed multi-execution of two instructions, which you can set the BufferMode input variables to the
later motion control instruction to select one of the six Buffer Modes.
The meanings of terms relating to BufferMode shown as follows:
1. Current instruction: The motion control instruction that was in operation just before executing the multi-
execution instruction.
2. Buffered instruction: A motion control instruction that was executed during an axis motion and is waiting to
be executed
3. Transit velocity: The velocity to use by the current instruction to trasfer to the buffered instruction.
4. Target Velocity: The Velocity parameters of the instruction.
5. Target position: the Positon or Distance parameters of relating move instructions.
BufferMode Description of Operation
0
：
mcAborting
(Aborting)
The current instruction is aborted and the multi-executed instruction is
executed.
1
：
mcBuffered
(Buffered)
The buffered instruction is executed after the operation for the current
instruction is normally finished.
2
：
mcBlendingLow
(Low velocity)
The buffered instruction is executed after the target position of the current
instruction is reached. The transit velocity is set to the target velocity of the
current instruction or the buffered instruction, whichever is lowest.
3
：
mcBlendingPrevious
(Previous velocity)
The buffered instruction is executed after the target position of the current
instruction is reached.The target velocity of the current instruction is used as
the transit velocity
4
：
mcBlendingNext
(Next velocity)
The buffered instruction is executed after the target position of the current
instruction is reached. The target velocity of the buffered instruction is used as
the transit velocity.