Multiple Start (Buffer Mode) - Mitsubishi Electric MELSEC iQ-R Series User Manual

4.3

Multiple Start (Buffer Mode)

MCFBs can be executed continuously without stopping by executing the motion FB of another instance to the axis and the
axes group that are executing the motion control FB.
• To execute the MCFB with the axis and the axes group stop status ("4: Standstill" or "4: GroupStandby") is
called "start". For details, refer to the following.
Page 104 Start
• When the axis operation state and the axes group operation state are as the following, to execute the
motion FB of another instance is called "multiple start".
[Axis state in which multiple start is available (AxisName.Md.AxisStatus)]
3: Homing (Only MC_Stop is possible)
5: DiscreteMotion
6: ContinuousMotion
7: SynchronizedMotion
[Multiple Start possible axes group state (AxesGroupName.Md.GroupStatus)]
5: GroupMoving
• Multiple start of the single axis control FB cannot be executed to an axis operated in the axes group. It will
cause the error "Operation FB Issue Error to the Axis during Axes Group Operating" (error code: 1A7CH).
Buffer mode type
The following types can be specified to the buffer mode, and the type that can be specified differs depending on the FB.
Setting value Buffer mode type
0: mcAborting Aborting
1: mcBuffered Buffered
2: mcBlendingLow BlendingLow
3: mcBlendingPrevious BlendingPrevious
4: mcBlendingNext BlendingNext
5: mcBlendingHigh BlendingHigh
*1 Buffers the next FB on the on-going FB.
If the on-going FB has already been buffered, the next FB of the previous FB is buffered. (Up to 2) Buffering FBs are executed in order
after the on-going FB has reached the target position.
Stop is not executed between on-going FB and buffering FB in this mode.
Description
Interrupts (cancel) the on-going FB and executes next FB immediately.
Buffers the next FB on the on-going FB. If the on-going FB has already been buffered, the next FB of
the previous FB is buffered. (Up to 2.)
Buffering FBs are executed in order after completion of the on-going FB
The lower target velocity between on-going FB and buffering FB is used as the switching speed.
Target velocity of on-going FB is used as the switching speed.
Target velocity of buffering FB is used as the switching speed.
The higher target velocity between on-going FB and buffering FB is used as the switching speed.
*1
*1
*1
4 START AND STOP
4.3 Multiple Start (Buffer Mode)
4
*1
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