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

Multiple start during multiple axes operation

When axes group operation state is as the following, multiple start is enabled by executing the motion FB of another instance.
(If the axis operation is in the "4: GroupStandby" status, it is regarded as "start".)
[Axes group status that can be multiple started (AxesGroupName.Md.GroupStatus)]
5: GroupMoving
In multiple start during multiple axes operation, the current interpolation speed of the on-going FB is used as the switching
speed. Therefore, acceleration/deceleration may not be executed and rapid a velocity change may occur depending on the
movement amount and direction of each axis in the buffering FB.
Example of speed pattern for each axis at switching FB (BlendingPrevious)
Y coordinate
Interpolation
Multiple start
speed
Start
X axis speed
Y axis speed
Execute
Busy
FB1
Active
Done
Execute
Busy
FB2
Active
Done
FB2
FB1
FB1
Command position
X coordinate
FB2
Command position
4 START AND STOP
4.3 Multiple Start (Buffer Mode)
4
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