Yaskawa MotionWorks IEC - Manual (Page 26)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 18
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
The input BufferMode must be connected with a INT data type which can
have the following values:
Buffer mode Short description Important
note: The meaning of each value
may vary depending on the
FB(s) involved. For this reason,
please also refer to the
individual parameter
descriptions!
Input value at
BufferMode *
Aborting This is the Default mode. The FB
aborts an ongoing motion and the
command affects the axis
immediately.
INT#0
Buffered The FB affects the axis as soon as
the previous movement is
complete. The axis will stop
between the movements.
INT#1
BlendingLow The FB controls the axis after the INT#2