Mitsubishi Electric MELSEC iQ-R Series User Manual page 129

• For "2: KeepCurrentAcc" (Only for single axis)
The axis starts deceleration immediately, and it stops after exceeding the target position. When the stop address is exceeded,
the error "Overrun Error" (error code: 1A7EH) is output. However, when the error occurs, the operation stops according to the
setting of AxisName.Pr.StopMode_General. To stop the axis after it exceeds the target position, set "2: KeepCurrentAcc" in
AxisName.Pr.StopMode_General.
Speed
Start
Execute
Busy
FB1
Active
Command
Aborted
Execute
Busy
FB2
Active
Error
When a new FB is multiple started during deceleration by movement amount shortage, the operation
becomes as the following.
[When AxisName.Pr.OverrunOperation is "2: KeepCurrentAcc" setting]
• If the target position has already been reached when the multiple start happens (when the error "Overrun
Error" (error code: 1A7EH) occurs), the multiple started FBs will be disabled.
• If the target position has not been reached when the multiple start happens and if Aborting and Blending are
set, deceleration will be canceled. If Buffered is set, the multiple start will be executed but canceled with the
error "Overrun Error" (error code: 1A7EH) occurrence.
[When AxisName.Pr.OverrunOperation is other than "2: KeepCurrentAcc" setting]
• If a new FB is multiple started when Aborting and Blending are set, deceleration stop will be canceled.
• If a new FB is multiple started when Buffered is set, automatic deceleration will be continued. The multiple
started axes will be executed after the axis stops.
Multiple start
Overrun error
occurrence
Command position
of multiple start FB
The first
command position
Time
4.3 Multiple Start (Buffer Mode)
4 START AND STOP
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