Mitsubishi Electric MELSEC iQ-R Series User Manual page 231

Motion module
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■Direction (Dilection selection)
It can be selected from the positive direction, the negative direction, the shortest way, and the current direction. Specify the
direction to move from the current position to the target position. Direction has 16 array elements.
• Direction [0..(N-1)] indicates the direction selection of the configuration axis 1 to N. Set the value in the configuration axis
set in LinearAxes.
• The direction input of the configuration axis which is not set as the linear interpolation axis is ignored.
• When selecting other than the positive direction, the negative direction, the shortest way, and the current direction, the error
"Out of Direction Selection Range" (error code: 1A37H) will occur and the axis will not start.
• The linear axis where the software stroke limit is valid ignores this setting. For details of operation of each direction
selection, refer to the following.
Page 177 Direction (Direction selection)
Setting value
Direction selection
name
1: mcPositiveDirection
Positive direction
2: mcNegativeDirection
Negative direction
3: mcShortestWay
Shortest way
4: mcCurrentDirection
Current direction
■BufferMode (Buffer mode)
Select the buffer mode. Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh can be set. For
details, refer to the following.
Page 107 Buffer mode type
■Options (Options)
Set a function option with bit specification.
Bit details and the function are as the following table. For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function, Page 171 Single Axis Positioning Control
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)
*1
3
Position selection during buffer mode
Set "0" for absolute value linear interpolation control.
FALSE: Set position
TRUE: Actual position
For details, refer to the following.
Page 107 Multiple Start (Buffer Mode)
4 to 15
Empty (Set "0".)
*3
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.
Set "0" for the relative value linear interpolation control.
FALSE: Not allow
TRUE: Allow
17 to 31
Empty (Set "0".)
*1 It is valid only when the relative value linear interpolation control.
*2 When specifying "1", the error "Out of Options Range" (error code: 1A4EH) will occur and the axiswill not start.
*3 It is valid only when the absolute value linear interpolation control.
Description
Executes positioning from the current position to the target position in the positive direction
(address increasing).
Executes positioning from the current position to the target position in the negative direction
(address decreasing).
Executes positioning in the direction where the distance between the current position and the
target position is close.
Repeats the movement direction of the previous instruction (motion system).
*2
*2
*2
*2
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
6
229

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