Mitsubishi Electric MELSEC iQ-R Series User Manual page 230

■Velocity (Velocity)
Specify the maximum speed of the way. For details, refer to the following.
Page 210 Positioning speed in multiple axes positioning control
■Acceleration (Acceleration)
Specify the acceleration. The setting details differ depending on the acceleration/deceleration method. For details, refer to the
following.
Page 293 Acceleration/deceleration Processing Function
■Deceleration (Deceleration)
Specify the deceleration. The setting details differ depending on the acceleration/deceleration method. For details, refer to the
following.
Page 293 Acceleration/deceleration Processing Function
■Jerk (Jerk)
Specify the jerk. The setting details differ depending on the acceleration/deceleration method. For details, refer to the
following.
Page 293 Acceleration/deceleration Processing Function
■VelocityMode (Velocity mode)
Specify the velocity mode in multiple linear interpolation control. When specifying "2: ReferenceAxisSpeed"in VelocityMode,
the reference axis becomes the configuration axis specified to the top elements of the LinearAxes input. For details, refer to
the following.

Page 210 Positioning speed in multiple axes positioning control
Setting value
0: VectorSpeed
1: LongAxisSpeed
2: ReferenceAxisSpeed
• When "0: VectorSpeed" is specified to VelocityMode and the movement value of each axis exceeds
"4,294,967,296.0 ( = 2
and the axis will not start.
• When Aborting is specified to BufferMode and MCv_MoveLinearInterpolateAbsolute is executed by multiple
start, specify "0: VectorSpeed" to VelocityMode. If other than "0: VectorSpeed" is set, the error "Out of
Speed Mode Range" (error code: 1A61H) will occur.
6 AXIS CONTROL FUNCTION
228
6.4 Multiple Axes Positioning Control
Speed mode name Description
Vector speed Velocity specifies the vector speed.
Long axis speed Velocity specifies the speed of the long axis.
Reference axis speed Velocity specifies the speed of the reference axis.
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)", the error "Out of Liner Movement Amount Range" (error code: 1ADEH) will occur