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

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_BUFFER_MODE 1:

MC_BUFFER_MODE 2:

MC_BUFFER_MODE 3:

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.

MC_BUFFER_MODE 4:

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.

MC_BUFFER_MODE 5:

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 1st 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 1st 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