Buffermode - Mitsubishi Electric MELSEC iQ-R Series User Manual

BufferMode

When starting this FB during another instruction execution
■Single axis position control (FB1)  Velocity control (FB2)
• 0: mcAborting
1.
Input variables are analyzed, and a switching request to csv is issued to the driver.
2.
Until the driver is switched, the axis is operated at the previous velocity with the velocity control including the position
loop.
3.
When the driver switches to csv, TargetVelocity is obtained based on the actual velocity and the acceleration/
deceleration process is started again.
FB1: Execute
FB1: Busy
FB1: Active
FB1: CommandAborted
FB2: Execute
FB2: Busy
FB2: Active
FB2: InVelocity
AxisName.Md.SetVelocity
Velocity(FB1)
=1000
Velocity(FB2)
=750
AxisName.Md.
5: DiscreteMotion
AxisStatus
Modes of operation
AxisName.Md.
Driver_Mode
FB1 FB2
6: ContinuousMotion
csp
8: csp
The current speed is maintained while waiting
for switching. (The set velocity at switching of
FB2)
csv
9: csv
7 DIRECT CONTROL
247
7.1 Velocity Control
7