Relevant Variables - Mitsubishi Electric MELSEC iQ-R Series User Manual

Command omission at multiple start
When omitting the specified speed, the acceleration specification, and the deceleration specification in an FB that executes
multiple start, specified speed of "the previous FB of buffering FB" at multiple start is taken over. If the specified speed input
does not exist in "the previous FB of buffering FB", buffering is executed with speed 0.0.
FB1 : MC_MoveRelative
MyAX
Axis
A Distance
V Velocity
1
Speed
FB being executed
Execute
Busy
FB1
Active
Command
Aborted
Execute
Busy
FB2
Active
Done
• When FB switching is executed by multiple start, velocity change is executed to the target velocity of next FB. For the
velocity waveform operation when the jerk is not specified with 0.0, refer to the following.
Page 293 Acceleration/deceleration method
• When multiple FBs are multiple started at the same execution cycle, the order of FBs to be buffered is uncertain. In order to
determine the buffering order, execute multiple start after checking that the previous FB is started (Busy = TRUE).

Relevant variables

Variable/Structure name
AxisName.Pr.
OverrunOperation
AxisName.Md.
BufferingFBs
AxesGroupName.Pr.
OverrunOperation
AxesGroupName.Md.
BufferingFBs
Axis
Done
Busy 0.0
mcBlendingPrevious
Set velocity
Multiple start (BlendingPrevious)
change after
Accelerate after buffering FB switching to take
multiple start
specified speed V1
Buffering FB
Name
Operation setting at overrun
Number of buffering FBs
Operation setting at overrun
Number of buffering FBs
FB2 : MC_MoveRelative
Axis
B Distance
Velocity
BufferMode
Time
Details
Sets the operation settings when overrun occurs during operation.
1: ImmediateStop (Immediate stop)
2: KeepCurrentAcc (Keep Current Acceleration/Deceleration)
The number of buffering FBs (0 to 2)
Sets the operation settings when overrun occurs during operation.
1: ImmediateStop (Immediate stop)
2: KeepCurrentAcc (Keep Current Acceleration/Deceleration)
The number of buffering FBs (0 to 2)
Axis
Done
Busy
4 START AND STOP
4.3 Multiple Start (Buffer Mode)
4
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