Mitsubishi Electric MELSEC iQ-R Series User Manual page 217

The positioning speed for Blending of the multiple axes positioning control
This section explains operation when selecting BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh in the
BufferMode input of the function block and setting different speed mode to the VelocityMode input of the first function block
(FB1) and the second function block (FB2) in the multiple axes positioning control.
• It can start even when VelocityMode is different between FB1 and FB2.
• The control is carried out using the FB1 VelocityMode in FB1 and using the FB2 VelocityMode in FB2.
• During Blending of FB1 and FB2, the speed is not converted by the speed mode. The positioning speed value as the FB1
speed mode is used for Blending in the positioning speed as the FB2 speed mode.
• During Blending, when the VelocityMode of FB1 and FB2 is different, the warning "Multiple Start Speed Mode Specified
Mismatch Warning" (warning code: 0D11H) will occur.
• Note that the speed of each axis and the vector speed may rapidly change when VelocityMode of FB1 and FB2 is different
during Blending.
Setting value BufferMode
2: mcBlendingLow BlendingLow
3: mcBlendingPrevious BlendingPreviou
s
4: mcBlendingNext BlendingNext
5: mcBlendingHigh BlendingHigh
■Operation example for BlendingPrevious
Blending from the reference axis speed specification to the vector speed specification is as shown below.
It operates so that the FB1 reference axis speed becomes the speed set to Velocity of FB1 (the reference axis speed) at the
FB1 target position. The reference axis speed when reaching the FB1 target position is read as the current vector speed value
of FB2 without unit conversion, and it accelerates/decelerates the vector speed set to Velocity of FB2.
• Axis setting
Setting item
Position and speed command unit
of the configuration axis 1
Position and speed command unit
of the configuration axis 2
Position and speed command unit
of the axes group
• FB1 input (Command unit: mm/s)
Setting item
LinearAxes
Position
Velocity
VelocityMode
• FB2 input (Command unit: mm/s)
Setting item
LinearAxes
Position
Velocity
VelocityMode
BufferMode
Description
At the end position of FB1, the speed becomes a lower value of the Velocity input between FB1 and FB2.
When the Velocity input of FB2 is lower, at the end position of FB1, it operates with VelcityMode of FB1 and the
Velocity setting value of FB2.
At the end position of FB1, the speed becomes the Velocity input value of FB1.
At the end position of FB1, it operates with VelcityMode of FB1 and the Velocity setting value of FB1.
At the end position of FB1, the speed becomes the Velocity input value of FB2.
At the end position of FB1, it operates with VelcityMode of FB1 and the Velocity setting value of FB2.
At the end position of FB1, the speed becomes a higher value of the Velocity input between FB1 and FB2.
When the Velocity input of FB2 is higher, at the end position of FB1, it operates with VelcityMode of FB1 and
Velocity of FB2.
Setting value
mm/s
mm/s
mm/s
Setting value
[1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0] or [1 2]
[100 100 0 0 0 0 0 0 0 0 0 0 0 0 0 0] or [100 100]
1000
2: ReferenceAxisSpeed
Setting value
[1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0] or [1 2]
[200 200 0 0 0 0 0 0 0 0 0 0 0 0 0 0] or [200 200]
200
0: VectorSpeed
3: mcBlendingPrevious
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
6
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