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Buffering/Blending from Continuous or Synchronized Movement

According to PLCopen, the blending buffer mode determines the velocity at the end of the first movement.

In some cases, the velocity is already entirely determined by the first movement. This is the case when the first movement is of one of the following types:

  • Continuous movement (MC_MoveVelocity, SMC_MoveContinuousRelative, or SMC_MoveContinuousAbsolute)

  • Synchronized movement (MC_CamIn, MC_GearIn, or MC_GearInPos)

In these cases, CODESYS SoftMotion supports only the Buffered and Aborting buffer modes. Using one of the blending buffer modes causes an FB error (SMC_BLENDING_NOT_SUPPORTED_BY_PREVIOUS_MOVEMENT).

When the subsequent buffered command becomes active, the output CommandAborted is set to TRUE for a previous movement command. In addition, the "Inxxx" outputs (for example, InVelocity for MC_MoveVelocity or InGear for MC_GearIn) and the output Busy are set for one cycle. This is in contrast to PLCopen, Section 2.4.1, in which CommandAborted and "Inxxx" as well as Busy are mutually exclusive.

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