Mitsubishi Electric MELSEC iQ-R Series User Manual page 122

When on-going FB (FB1) or next FB (FB2) has the VelocityMode input and the velocity mode settings are different between
FBs, the warning "Multiple Start Speed Mode Specified Mismatch Warning" (warning code: 0D11H) will occur and the
operation will become as the following.
FB1 VelocityMode is used in FB1 and FB2 VelocityMode is used in FB2 to control. In this case, the switching speed is
controlled using only values. (Unit/speed conversion by VelocityMode is not executed.)
Ex.
Multiple start by specifying BlendingPrevious from FB1 with the reference axis speed to FB2 with the vector speed
Reference axis
[structuring axis] speed
Reference axis
10000 mm/s
Vector speed
structuring axis 1, 2
Vector speed
1000 mm/s
Vector speed
200 mm/s
The operation is carried out so that the reference axis speed of FB1 becomes the speed set in Velocity (reference axis speed
1000 mm/s). The reference axis speed at the target position of FB1 is regarded as the switching speed and the current vector
speed value of FB2 without conversion, and it accelerates and decelerates the vector speed (200 mm/s) set in Velocity of
FB2.
Multiple start of the single axis control FB cannot be executed to the axis that is during operation in the axes group. If it is
executed, the error "Operation FB Issue Error to the Axis during Axis Group Operating" (error code: 1A7CH) will occur in the
target axis, and the axes group FB that is during execution will stop.
Buffer mode that can be set
The following shows buffer modes that can be specified in the multiple axes control FB. For operation details of each FB, refer
to each FB specifications.
: Buffer mode setting possible, : Buffer mode setting not possible (axes group error)
FB
MC_GroupStop
MCv_MoveLinearInterpolateAbsolute
MCv_MoveLinearInterpolateRelative
MCv_MoveCircularInterpolateAbsolute
MCv_MoveCircularInterpolateRelative
*1 When it is started during axis operation, the operation will be same as Aborting.
*2 Only MC_GroupStop is possible.
4 START AND STOP
120
4.3 Multiple Start (Buffer Mode)
Position [100 mm 100 mm]
FB1
FB2
FB2
Position [200 mm 200 mm]
Setting possible in FB
Aborting Buffered
*1
 
 
 
 
 
Time
Time
Completion
output
Blending
 Done

Done

Done

Done

Done
Setting possible in the later operation
FB
Aborting Buffered Blending
*2
  
  
  
  
  