Buffer Modes

Some of the function blocks A function block groups an algorithm and a set of private data. It has inputs and outputs. (FBs) have an input called BufferMode.

With this input, the FB can either work in a Non-buffered mode (default behavior) or in a buffered mode.
- The difference between those modes is when they start their action:
  - A non-buffered mode command acts immediately, even if this interrupts An asynchronous signal from hardware indicating the need for attention or a synchronous event in software indicating the need for a change in execution. another motion.
  - A buffered mode command waits until the current FB sets its Done output (or InPosition or InVelocity).

This table lists the buffer modes that can be specified at the BufferMode input of the function blocks.

Value	Buffer Mode	Short Name	Description
0	MC_BUFFER_MODE_ABORTING	Abort	A move that specifies Abort: Aborts the active move Removes the next move from the queue Immediately becomes the active move and begins executing.
1	MC_BUFFER_MODE_BUFFERED	Buffer	One of these events can happen with a move that specifies Buffer: Case 1: If there is no active move, this move immediately becomes the active move and begins executing. Case 2: If there is an active move but no next move queued, this move is queued as the next move. It begins executing when the active move has completed and decelerated to zero velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP. Case 3: If there is an active move and a queued next move, this move does not execute but returns the error queue full at the ErrorID output.
2	MC_BUFFER_MODE_BLENDING_PREVIOUS	Blend A way that consecutive function blocks cooperate in the transition from the first to the next. to Previous	A move specifying Blend-to-Active behaves the same as Buffer in Cases 1 and 3. In Case 2, this move is queued as the next move. The active move stays at its programmed The act of performing a sequence of instructions or commands. velocity to its endpoint. When the active move reaches its endpoint, this move becomes active and begins to accelerate A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics) or decelerate to its programmed velocity
3	MC_BUFFER_MODE_BLENDING_NEXT	Blend to Next	A move specifying Blend-to-Next behaves the same as Buffer in Cases 1 and 3. In Case 2, this move is queued as the next move. When the expected time is reached, the active move begins to accelerate or decelerate so it reaches this move's programmed velocity at the time the active move reaches its endpoint.
4	MC_BUFFER_MODE_BLENDING_LOW	Blend to Low	A move specifying Blend-to-Low behaves like Blend-to-Active if the active move's velocity is lower than this move's velocity. It behaves like Blend-to-Next if this move's velocity is lower than the active move's velocity.
5	MC_BUFFER_MODE_BLENDING_HIGH	Blend to High	A move specifying Blend-to-High behaves like Blend-to-Active if the active move's velocity is higher than this move's velocity. It behaves like Blend-to-Next if this move's velocity is higher than the active move's velocity.

The MC_BUFFER_MODE_BLENDING_NEXT and MC_BUFFER_MODE_BLENDING_HIGH buffer modes may increase the acceleration to meet the target position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. at the specified velocity.
The acceleration is automatically re-calculated to reach the target position at the specified velocity if the specified acceleration is too small to reach the target velocity within the specified distance.

Example: These absolute position moves are commanded:
Move #1:

Position = 90, Velocity = 180, Accel = 360

Move #2: (with Blending High or Blending Next)

Position = 360, Velocity = 360, Accel = 360

To reach velocity = 360 within a distance of 90, the acceleration must be 720.
The function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. block automatically calculates and applies an acceleration of 720 to reach the target position at the specified velocity: