Mitsubishi Electric MELSEC iQ-R Series User Manual page 213

■Long axis speed specification
1: LongAxisSpeed
The control is carried out based on the positioning speed (the long axis speed: V) of the axis whose movement amount is the
largest in the addresses set in each axis.
The positioning speed of the other axes is calculated by the motion system from the movement amount (D1 to D4) of each
axis.
Set the Position input or the Distance input as the movement amount of each axis and Velocity input as the long axis speed in
the function block for the motion control.
Ex.
The following shows the case for 4-axis linear interpolation control.
Program example
Setting item Setting value
Axis 1 movement amount 10000 [pulses]
(D1)
Axis 2 movement amount 15000 [pulses]
(D2)
Axis 3 movement amount 5000 [pulses]
(D3)
Axis 4 movement amount 20000 [pulses]
(D4)
Axis 4 velocity unit [s]
Long axis speed (V) 7000 [pulses/s]
In the above case, the reference axis is the axis 4 whose movement amount is the largest, and the control is carried out based
on the positioning speed specified to the axis 4. The positioning speed of the other axes is calculated by the motion system
with the following calculation formulas.
Setting item Setting value
V1 = D1 / D4  V
Axis 1 positioning speed
V2 = D2 / D4  V
Axis 2 positioning speed
V3 = D3 / D4  V
Axis 3 positioning speed
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
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