Acceleration/Deceleration Processing; State Transition In The Multiple Axes Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Ex.
The following shows an operation example.
• Operates to the middle of the target position of FB1 of [100 mm 100 mm] at the vector speed of 1000 mm/s.
• Decelerates so that it reaches the target position of FB1 of [100 mm 100 mm] at the vector speed of 200 mm/s.
• Starts operation from the current position of FB2 of [0 degree 0 degree] at the vector speed of 200 degree/min.
Velocity
1000 mm/s
FB1
200 mm/s
FB2
200 degree/min

Acceleration/deceleration processing

By the VelocityMode input of the function block for the motion control, the relationship between the positioning speed and the
acceleration/deceleration processing becomes as shown below.
• Vector speed specification
0: VectorSpeed
The acceleration/deceleration processing is applied to the vector speed.
• Long axis speed specification
1: LongAxisSpeed
The acceleration/deceleration processing is applied to the long axis speed.
• Reference axis speed specification
2: ReferenceAxisSpeed
The acceleration/deceleration processing is applied to the reference axis speed.
There are the following two types of the acceleration/deceleration method. For details of each acceleration/deceleration
processing function, refer to the following.
Page 293 Acceleration/deceleration Processing Function
Acceleration/deceleration method
Acceleration/deceleration specification
method (Default)
Acceleration/deceleration fixed-time
method

State transition in the multiple axes positioning control

The axes group status (AxesGroupName.Md.GroupStatus) of the axes group in the positioning control is "5: GroupMoving".
For the axes group status (AxesGroupName.Md.GroupStatus), refer to the following.
Page 35 State transition
6 AXIS CONTROL FUNCTION
220
6.4 Multiple Axes Positioning Control
Position [100 mm 100 mm]
Position [200 degree 200 degree]
Description
Accelerats and decelerates using the acceleration, the deceleration, and the jerk specified in the FB.
Accelerats and decelerates using the acceleration/deceleration time and the jerk specified in the FB regardless
of the speed.
Time
Time