Delta DVP-15MC Series, Руководство по эксплуатации

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Chapter 10 Motion Control Function
10-7
10
execution of MC_MoveSuperimposed or MC_HaltSuperimposed.

Example: Using two MC_MoveRelative instructions for explanation.
The maximum velocity of the first MC_MoveRelative instruction is V
1
and distance is S
1
. The maximum velocity
of the second MC_MoveRelative instruction is V
2
and distance is S
2
. Modifying the value of BufferMode of the
second MC_MoveRelative instruction, you can get different blending processes of the two instructions. See
details as below.

Aborting: Buffermode=mcAborting. See the examples of four cases as below.
1. Current instruction is aborted while the
controlled axis is accelerating.
2. Current instruction is aborted while the
controlled axis is moving at a constant
velocity.
3. Current instruction is aborted while the
controlled axis is decelerating. 4. The velocity direction of the buffered
instruction is opposite to the current
instruction.


Buffered: Buffermode= mcBuffered . See two cases as below.
1. When the direction of the buffered
instruction is the same as that of the
current instruction 2. When the direction of the buffered
instruction is opposite to that of the
current instruction.
t
Curr ent
ins t ruct ion
is s t arted
The buf f er ed ins tr uct ion is s tar ted
and t hen st art s t o contr ol t he
ax is im mediat ely.
Buf f ered i ns t ruct ion
V
C urrent
i nst ruc tion
V
2
t
The buff ered i nst ruct ion is s t art ed
and then st art s t o cont rol the
ax is i mmediat ely.
Buf fer ed ins t ruct ion
V
Current
ins tr uct ion
is s tar ted
Curr ent
ins t ruct ion
V
2
V
1
t
Curr ent
ins t ruct ion
is s t arted
The buf f ered ins t ruct ion is s t arted
and then st art s t o contr ol the
ax is i mmediat ely.
Buf f ered ins t ruct ion
V
Current
ins tr uct ion
V
2
V
1
t
T he buf f er ed ins t ru ct i on i s s t ar te d
a nd t he n s ta rt s t o c ont ro l t he
ax is i m me dia t ely.
Buff ered i nst ruc ti on
V
Current
ins tr uct ion
is s tar ted
C urrent
inst ruc ti on
V
1
V
2