Mitsubishi Electric MELSEC iQ-R Series User Manual page 118

Blending during single axis operation
Multiple started FBs are buffered and wait until the on-going FB is completed. After the on-going FB reached the target
position, buffering FBs are performed in order. In this case, the switching speed differs depending on the mode specified in
the buffer mode.
■BlendingPrevious
The FB is operated at the speed of the on-going FB to the target position. After switching to the FB that is during buffering,
velocity change is executed to the target velocity of the buffering FB.
Speed
Execute
Busy
FB1
Active
Done
Execute
Busy
FB2
Active
Done
4 START AND STOP
116
4.3 Multiple Start (Buffer Mode)
Transfer speed uses the set velocity
of current FB.
Multiple start
FB
Buffering FB
being executed