Mitsubishi Electric MELSEC iQ-R Series User Manual page 216

• For the reference axis speed specification, set speed limit value is valid to the Velocity input which is as the
reference axis speed. For details, refer to the following.
Page 318 Speed Limit
• Note that the positioning speed of the axis whose movement amount is larger than that of the reference axis
is larger than the set reference axis speed.
(Ex.)
When setting a value like the following in the 2-axis linear interpolation, the positioning speed and the vector
speed of the axis 2 exceed the speed limit value.
The setting items and the setting values are shown below.
• Axis 1 movement amount (D1): 100 [pulses]
• Axis 2 movement amount (D2): 200 [pulses]
• Reference axis speed (V): 50 [pulses/s]
• Reference axis: Axis 1
• Speed limit value: 55 [pulses/s]
In the above case, the reference axis is the axis 1, and control is carried out with the speed limit value set to
the axis 1. The positioning speed and the vector speed of each axis are shown below.
• Axis 1 positioning speed: 50 [pulses/s]
• Axis 2 positioning speed: 200 / 100  50 = 100 [pulses/s]
• Vector speed: (50
Axis 1 positioning speed
The positioning speed and the vector speed of the axis 2 become a value that exceeds the speed limit value
55.
Circular interpolation control
For the circular interpolation, the control is performed so that the positioning speed on the circular path becomes the specified
speed.
6 AXIS CONTROL FUNCTION
214
6.4 Multiple Axes Positioning Control
2 2
+ 100 ) = 111.8 [pulses/s]
Axis 2 positioning speed
Vector speed