Mitsubishi Electric MELSEC iQ-R Series User Manual page 250

• 1: mcBuffered
1.
Input variables are analyzed, and the axis waits until the previous instruction is completed.
2.
When the previous instruction is completed, a switching request to csv is issued to the driver.
3.
When the driver switches to csv, the acceleration/deceleration process is started based on the settings of FB2.
FB1: Execute
FB1: Busy
FB1: Active
FB1: Done
FB2: Execute
FB2: Busy
FB2: Active
FB2: InVelocity
AxisName.Md.SetVelocity
Velocity(FB1)
=1000
Velocity(FB2)
=750
AxisName.Md.
AxisStatus
Modes of operation
AxisName.Md.
Driver_Mode
When starting another instruction during this FB execution
While this FB is executed, only Aborting and Buffered are supported.
■Velocity control  Operation at positioning start
1.
A switching request to csp is issued to the driver.
2.
Started positioning instruction is analyzed, and the axis waits until the driver switches to csp. (Even if the axis issues the
switching request to csp during operation, switching may not be carried out depending on the driver specifications. If
switching to csp is not completed within 1 second, an axis error will occur for the timeout, and the axis will stop.)
3.
While waiting, csv is continued with the set velocity when Execute of FB2 is TRUE.
4.
When the driver switches to csp, the positioning control starts.
The deceleration distance may not be secured and the target position may be overrun depending on the travel
distance switching from the csv mode to the csp mode. In this case, the axis operates based on
AxisName.Pr.OverrunOperation.
For operation at the overrun occurrence, refer to the following.
Page 107 Multiple Start (Buffer Mode)
Precautions
If the axis overruns while waiting for switching, it will stop immediately after switching to csp.
7 DIRECT CONTROL
248
7.1 Velocity Control
FB1 FB2
5: DiscreteMotion
csp
8: csp
Stop while waiting
for switching
6: ContinuousMotion
csv
9: csv