MC_BUFFER_MODE

The data type MC_BUFFER_MODE is used to specify how successive travel commands are to be processed. At least two function blocks are required for buffer mode to have an effect.

TYPE MC_BUFFER_MODE :
(
    mcAborting                        := 16#0,
    mcBuffered                        := 16#1,
    mcBlendingLow                     := 16#12,
    mcBlendingPrevious                := 16#13,
    mcBlendingNext                    := 16#14,
    mcBlendingHigh                    := 16#15
) UINT;
END_TYPE

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
TF5410 TwinCAT 3 Motion Collision Avoidance	MC Group with Pick-and-Place	MC Group Coordinated Motion

Example:

In the following example, a move command is used to move a group from position P₀ to P₁ and then to P₂. The reference point for the different velocity profiles is always P₁. The mode specifies the velocity v₁ or v₂ at this point.

Since the speed of the first command is lower than the second, the modes BlendingLow/BlendingPrevious and BlendingHigh/BlendingNext have the same result.

If the speed of the second command is lower than the first the modes BlendingLow/BlendingNext and BlendingHigh/BlendingPrevious are equivalent.

Combinations of buffer mode and transition mode

Notice Buffer mode and transition mode are merely combined using TF5420.

The following table shows possible combinations of transition mode and buffer mode and its effect.

TM/BM	mcAborting	mcBuffered	mcBlendingPrevious	Other
mcTransModeNone	Previous command is aborted immediately. New movement is started. Velocity in transition is 0. This combination is only allowed for the 1^st segment of a path.	Stop at the end of previous command. Subsequently next command is executed.	Not allowed	Not allowed
mcTransModeCornerDistance new from V3.1.10.1, only compatible with MC Group Coordinated Motion	Blending from active segment to first segment of new command. The intersection point of the segments is defined by the distance needed to stop on the active segment. This combination is only allowed for the 1st segment of a path.	Not allowed	Blending from last programmed command to new command	Not allowed
mcTransModeCornerDistanceAdvanced	Blending from active segment to first segment of new command. The intersection point of the segments is defined by the distance needed to stop on the active segment. This combination is only allowed for the 1^st segment of a path.	Not allowed	Blending from last programmed command to new command	Not allowed
Other	Not allowed	Not allowed	Not allowed	Not allowed

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17	PC or CX (x64)	Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCoordinatedMotion, Tc2_MC2