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• Aborting vs. Buffered Modes

Aborting vs. Buffered Modes

Aborting Versus Buffered Modes: Input BufferMode

Some of the FBs provide the input 'BufferMode'. By setting this input, the FB can either be run in "non-buffered mode" (default behavior) or in buffered mode. The transition behavior (blending) between two motions can be set by defining when the FB starts its action. The difference between these two modes is as follows:

• A Function Block in non-buffered mode is applied immediately, even when this interrupts a motion which is currently executed.
• A Function Block in buffered mode is not executed until the current FB has finished the motion it is currently executing and indicates this by setting the corresponding output (Done or InPosition or InVelocity - see table below).
• Up to 16 motion blocks can be buffered before error 4369 would be generated. Axis Parameter 1600 indicates the number of buffered motion blocks.

Possible options for the buffered mode

Blending is about passing a position (a function blocks position VAR_INPUT) at a specific velocity. A function block's BufferMode input must be populated with an INT data type or ENUM MC_BufferMode instantiation to see the effects of buffering. Please refer to MC_BufferMode to study the various options available.