Mitsubishi Electric MELSEC iQ-R Series User Manual page 246

■Input variables
Import : At start, R: Retrigger possible, C: Continuous update possible
Name Variable
name
Execute Execute
command
Continuous ContinuousUpd
update ate
Target velocity Velocity
Acceleration Acceleration
Deceleration Deceleration
Jerk Jerk
Direction Direction
selection
Buffer mode BufferMode
Options Options
*1 For a bit and the function description, refer to the following table.
Bit Function description
0 to 2 Acceleration/deceleration method setting
0: mcAccDec Acceleration/deceleration specification method
1: mcFixedTime Acceleration/deceleration time-fixed method
For details, refer to the following.
Page 293 Acceleration/deceleration method
3 to 15 Empty (Reserved)
16, 17 Velocity initial value selection
0: Set velocity
1: Actual velocity
2: Automatic selection
18 to 31 Empty (Reserved)
7 DIRECT CONTROL
244
7.1 Velocity Control
Data type Import Setting range

BOOL TRUE, FALSE

BOOL TRUE, FALSE
/R/C Page 71 Velocity
LREAL
set range
/R/C Page 295
LREAL
Relevant variables
/R/C Page 295
LREAL
Relevant variables

Page 295
LREAL
Relevant variables

MC_DIRECTIO 1 to 4
N

MC_BUFFER_ 0 to 1
MODE
*1

DWORD(HEX)
Default Description
value
FALSE When TRUE, it executes the FB.
FALSE During TRUE, it can continuously change the
target velocity, the acceleration, and the
deceleration.
0 Sets the target velocity.
When the velocity is negative, the axis moves to
the negative direction. When 0 is set, the axis
does not operate, however, the axis status
(AxisName.Md.AxisStatus) changes to "6:
ContinuousMotion".
0 Sets the acceleration.
0 Sets the deceleration.
0 Sets the jerk.
0 Sets the direction selection.
MC_DIRECTION definition can be used.
1: mcPositiveDirection (Positive direction)
2: mcNegativeDirection (Negative direction)
4: mcCurrentDirection (Current direction)
When selecting "2: mcNegativeDirection" and
Velocity is negative, the movement direction of
the motor will be positive.
0 Selects the buffer mode.
0: mcAborting (Aborting)
1: mcBuffered (Buffered)
0 Sets a function option with bit specification.