Mitsubishi Electric MELSEC iQ-R Series User Manual page 131

When the target position or the target velocity is changed at restart or continuous update to on-going FB, the buffering FB may
have to be reanalyzed.
As a result of reanalysis, if an error occurs in any FB, the axis status (AxisName.Md.AxisStatus) and the axes group status
(AxesGroupName.Md.GroupStatus) will be error stop and the on-going FBs will be interrupted and stop. (Buffering FB will be
canceled.)
Ex.
When the target position after change is outside the software stroke limit range by restart of buffering FB
Speed
Multiple start
being executed
Execute
FB1
Busy
Active
Error
Execute
(A, B)
Distance
FB2
Busy
Active
Error
AxisName.Md.
AxisStatus
AxesGroupName.
Md.GroupStatus
If the acceleration/deceleration method settings are different between on-going FB and the next FB, the error "Acceleration/
Deceleration Method Mismatched" (error code: 1A0EH) will occur and the FBs will stop. Set the same acceleration/
deceleration method in the FBs to be carried out multiple start.
When MC_MoveRelative is multiple started, the relative value positioning control from the set position or the actual current
value is performed with the position selection at BufferMode (1: mcBuffered Buffered) of the FB (Options bit3).
Restarting
Instruction stops and stop process starts due to
an error occurrence of buffering FB (FB2)
FB
Buffering FB
(C, D)
7: SynchronizedMotion
1: ErrorStop
5: GroupMoving
1: GroupErrorStop
4 START AND STOP
4.3 Multiple Start (Buffer Mode)
4
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