Command Unit In The Multiple Axes Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Command unit in the multiple axes positioning control

Command unit of the multiple axes positioning control
The command unit in the multiple axes positioning control differs depending on the VelocityMode input of the function block
for the motion control. For details and precautions, refer to the following.
Page 62 Technical Units, Page 119 Multiple start during multiple axes operation
Command unit for Blending of the multiple axes positioning control
This section explains operation when selecting BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh in the
BufferMode input of the function block, and the command unit is different between the first function block (FB1) and the
second function block (FB2) in the multiple axes positioning control.
• It can start even when the command unit of FB1 and FB2 is different.
• The control is carried out using the FB1 command unit in FB1 and using the FB2 command unit in FB2.
• During Blending of FB1 and FB2, the speed is not converted by the command unit mode. The positioning speed value as
the FB1 command unit is used for Blending in the positioning speed as the FB2 command unit.
• When the command unit of FB1 and FB2 is different, the warning "Speed Command Unit Mismatch Warning" (warning
code: 0D1EH) will occur.
Setting value
2: mcBlendingLow
3: mcBlendingPrevious
4: mcBlendingNext
5: mcBlendingHigh
■Operation example for BlendingPrevious
During Blending, it can start even when the command unit of FB1 and FB2 is different. Unit conversion is not carried out, and
the speed value of FB1 is given as the speed of FB2.
• Axis setting
Setting item
Position and speed command unit
of the configuration axis 1
Position and speed command unit
of the configuration axis 2
Position and speed command unit
of the configuration axis 3
Position and speed command unit
of the configuration axis 4
• FB1 input (Command unit: mm/s from the command unit of the configuration axis 1)
Setting item
LinearAxes
Position
Velocity
VelocityMode
6 AXIS CONTROL FUNCTION
218
6.4 Multiple Axes Positioning Control
BufferMode Description
BlendingLow At the end position of FB1, the speed becomes a lower value of the Velocity input between FB1 and FB2.
When the Velocity input of FB2 is lower, the speed at the end position of FB1 is FB1 command unit and the
value set in Velocity of FB2.
BlendingPreviou At the end position of FB1, the speed becomes the Velocity input value of FB1.
s The speed at the end position of FB1 is FB1 command unit and the value set in Velocity of FB1.
BlendingNext At the end position of FB1, the speed becomes the Velocity input value of FB2.
The speed at the end position of FB1 is FB1 command unit and the value set in Velocity of FB2.
BlendingHigh At the end position of FB1, the speed becomes a higher value of the Velocity input between FB1 and FB2.
When the Velocity input of FB2 is higher, the speed at the end position of FB1 is FB1 command unit and the
value set in Velocity of FB2.
Setting value
mm/s
mm/s
degree/min
degree/min
Setting value
[1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0] or [1 2]
[100 100 0 0 0 0 0 0 0 0 0 0 0 0 0 0] or [100 100]
1000
2: ReferenceAxisSpeed