EBufferMode

Syntax

Definition:

TYPE EBufferMode :
(
    Aborting := 0,
    Buffered := 1
)UINT;
END_TYPE

Values

Further information

The data type EBufferMode is used in motion commands to specify how they replace the previous motion command.

Aborting

The previous command is canceled immediately and indicates CommandAborted = TRUE. If higher dynamics are specified for the new command, they are immediately adopted as the limit for axis movement.

If lower dynamics are specified for the new command, a transition phase may occur. The axis is moved to the target state or within the range of the new dynamic limits as quickly as possible, while overshoots and undershoots are suppressed (e.g., overshooting the target position specified by the previous command). If this is also possible with the reduced dynamics, they are applied immediately. Otherwise, the axis will be decelerated using the higher dynamics from the previous command. This braking phase remains active until the movement is directed toward the target state.

The figure below shows a reversal movement. The original target position is 500; the aborting command is configured with lower dynamic parameters and a target position of 300. If the lower dynamics were applied instantly, the original target position of 500 would be exceeded. On the other hand, the axis would move further away from its new target state. The higher dynamics from the previous command remain active up to the red vertical marker. From the perspective of the new command, the overshoot relative to position 300 is kept as small as possible, taking command dynamics into account. In addition, the original target position is not exceeded.

Buffered

The previous command is executed to completion. The new command affects the moving object as soon as the previous movement is complete (Done/InVelocity/InSync/InGear). No blending takes place.