Mitsubishi Electric MELSEC iQ-R Series User Manual page 125

Blending during multiple axes 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 with the interpolation velocity of 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 buffering FB.
Interpolation speed
being executed
Execute
Busy
FB1
Active
Done
Execute
Busy
FB2
Active
Done
Transfer speed uses the set velocity
of current FB.
Multiple start
FB
Buffering FB
4 START AND STOP
4.3 Multiple Start (Buffer Mode)
4
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