Mitsubishi Electric MELSEC iQ-R Series User Manual page 203

Name Variable
name
Speed mode VelocityMode
Direction Direction
selection
Buffer mode BufferMode
Options Options
*1 For a bit and the function description, refer to the following table.
Bit Function description
0 to 2 Acceleration/deceleration method setting
0: mcAccDec Acceleration/deceleration specification method
1: mcFixedTime Acceleration/deceleration time-fixed method
For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
3 to 15 Empty (Set "0".)
16 Specifies whether to allow the target position that exceeds the ring counter upper/lower limit value or not when the software stroke
limit is invalid.
0: Not allow
1: Allow
17 to 31 Empty (Set "0".)
■Output variables
Name Variable name
Completion Done
Executing Busy
Controlling Active
Abortion of execution CommandAborted
Error Error
Error code ErrorID
Data type Import Setting range

MC_INTERPO 0 to 2
LATE_SPEED_
MODE

MC_DIRECTIO 1 to 4
N[1..16]

MC_BUFFER_ 0 to 5
MODE
*1

DWORD(HEX)
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
WORD (UNIT)
Default Description
value
0 Specifies the speed mode of interpolation control.
0: VectorSpeed (Vector speed)
1: LongAxisSpeed (Long axis speed)
2: ReferenceAxisSpeed (Reference axis speed)
1 Sets the direction selection.
It is N-dimensional array data. It is treated as the
direction selection of the configuration axis 1, 2,
..., N.
1: mcPositiveDirection (Positive direction)
2: mcNegativeDirection (Negative direction)
3: mcShortestWay (Shortest way)
4: mcCurrentDirection (Current direction)
0 Selects the buffer mode.
0: mcAborting (Aborting)
1: mcBuffered (Buffered)
2: mcBlendingLow (BlendingLow)
3: mcBlendingPrevious (BlendingPrevious)
4: mcBlendingNext (BlendingNext)
5: mcBlendingHigh (BlendingHigh)
For details, refer to the following.
Page 107 Multiple Start (Buffer Mode)
00000000H Sets a function option with bit specification.
Default Description
value
FALSE Indicates that the control is completed.
When Execute is TRUE at the operation
completion, TRUE remains until Execute turns
FALSE.
When Execute is FALSE at the operation
completion, it becomes TRUE only for one cycle.
FALSE Indicates that the FB is in execution.
FALSE Indicates that the axis is being controlled. When
multiple FBs are executed for the same axes
group, Active of only one FB turns TRUE.
FALSE Indicates that execution of FB has been aborted
due to error or multiple start.
FALSE Indicates that an error has occurred.
0000H The generated error code is returned.
For details, refer to the following.
Page 534 List of Error Codes
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
6
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