Multiple Start During Single Axis Operation - Mitsubishi Electric MELSEC iQ-R Series User Manual

Multiple start during single axis operation

When axis operation state is as the following, multiple start is enabled by starting a motion FB of another instance. (If the axis
operation is in the "4: Standstill" status, it is regarded as "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
When the buffering FB input includes Direction and "4: mcCurrentDirection" is selected, the previous FB operation direction is
taken over.
When the directions are different between on-going FB and next FB in the single operation, the operation differs depending on
the selection in case of having reverse rotation permission selection (option bit5). The operation is the same as the operation
at reverse rotation permission in case of not having reverse rotation permission selection (option bit5).
When the direction is reversed at while Blending is specified, a deceleration stop is executed at the target position of the on-
going FB, and velocity change is executed to the target velocity of the buffering FB after the on-going FB is switched to the
buffering FB. (It is the same operation as Buffered is specified.)
Deceleration stop setting at reverse (BlendingPrevious)
Speed
Execute
Busy
FB1
Active
Done
Execute
Busy
FB2
Active
Done
4 START AND STOP
110
4.3 Multiple Start (Buffer Mode)
Multiple start
FB
being executed
Command position of FB1
Buffering FB