Mitsubishi Electric MELSEC iQ-R Series User Manual page 215

■Reference axis speed specification
2: ReferenceAxisSpeed
The motion system calculates the positioning speed (V1 to V3) of other axes based on the positioning speed of the set
reference axis (the reference axis speed: V), and carries out the control.
In MCFB, the top array of the LinearAxes input indicates the reference axis. Also, set the Position input or the Distance input
as the movement amount of each axis and set the Velocity input as the single axis speed.
• If "0" is set to the axis movement amount of the axis specified as the reference axis, an error "Reference Axis Movement
Amount 0" (error code: 1AABH) occurs.
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]
Reference axis Axis 4
Reference axis speed (V) 7000 [pulses/s]
In the above case, the reference axis is the axis 4, and control is carried out at 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 formula.
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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