Mitsubishi Electric MELSEC iQ-R Series User Manual page 123

Aborting during multiple axes operation
On-going FB is interrupted and the multiple started FB is executed.
Since a buffer is not used, an error does not occur even if two of the on-going FBs have already been in buffering, and the FB
is executed. (All FBs during buffering are interrupted.)
When omitting to specify the buffer mode, this operation is performed.
An operation example when Aborting is executed to the on-going FB1 with the linked start FB2 is shown below.
Interpolation speed
Start
Execute
Busy
FB1
Active
Command
Aborted
Execute
Busy
FB2
Active
Done
Multiple start timing
The first Multiple start
command position command position
4 START AND STOP
4.3 Multiple Start (Buffer Mode)
4
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