Mitsubishi Electric MELSEC iQ-R Series User Manual page 300

Settings of motion FB
The acceleration/deceleration method can be selected in the UD: Options input of the motion FB.
Set the function options by specifying the bit. The details of bit and the functions are shown below.
Bit
0 to 2
3 to 15
16 to 31
Whether a method can be selected or not differs depending on the FB. For details, refer to the speifications of each FB.
DUT : Axis
B : Execute
B : ContinuousUpdate
L : Position
L : Velocity
L : Acceleration
L : Deceleration
L : Jerk
W : Direction
W : BufferMode
UD : Options
• Input variables to use
Variable/Structure name Name
Velocity
Acceleration
Deceleration
Jerk
Options
*1 Operation varies according to AxisName.Pr.AccelerationZeroBehavior at start. A change is not accepted during a acceleration change
and a deceleration change.
9 RELEVANT FUNCTIONS TO VELOCITY
298
9.1 Acceleration/deceleration Processing Function
Function description
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
Empty
The function differs depending on the FB.
MC_MoveAbsolute
CommandAborted : B
ErrorID : UW
Details
Velocity Specifies the target velocity in the FB.
Unit: For details, refer to the following.
Page 62 Technical Units
Range: For details, refer to the following.
Page 71 Velocity set range
Acceleration and Specifies the acceleration and the acceleration/deceleration time in the FB.
acceleration/ • When the acceleration/deceleration method is "0: mcAccDec"
deceleration time Unit: Specify with U/s
Range: 0.0000
• When the acceleration/deceleration method is "1: mcFixedTime"
Unit: Specify with s
Range: 0.000000
Deceleration Specifies the deceleration in the FB.
• When the acceleration/deceleration method is "0: mcAccDec"
Unit: Specify with U/s
Range: 0.0000
• When the acceleration/deceleration method is "1: mcFixedTime"
Not used.
Jerk/Jerk ratio Specifies the jerk in the FB.
• When the acceleration/deceleration method is "0: mcAccDec"
Unit: Specify with U/s
Range: 0.0000, positive numbers from 0.0001 to 2147483647.0 U/s
• When the acceleration/deceleration method is "1: mcFixedTime"
Not used.
Options Specifies the option information in the FB.
Axis : DUT
Done : B
Busy : B
Active : B
Error : B
2
*1
, positive numbers from 0.0001 to 2147483647.0 U/s
*1
, positive numbers from 0.000001 to 8400.0 s
2
*1
, positive numbers from 0.0001 to 2147483647.0 U/s
3
2
2
3