Mitsubishi Electric MELSEC iQ-R Series User Manual page 229

Details of setting items
■ContinuousUpdate (ContinuousUpdate)
Continuous update of the FB enables to import input variables again without interrupting the operation to the instance in
execution.
Input variables that can be change in restart/continuous update are Position/Distance, Velocity, Acceleration, and
Deceleration.
For details, refer to the following.
Page 106 Retrigger/Continuous Update, Page 293 RELEVANT FUNCTIONS TO VELOCITY
■LinearAxes (Linear interpolation axis)
In linear interpolation control, linear interpolation can be executed using arbitrary axes from the configuration axes set to the
axes group.
Set configuration axes to perform linear interpolation by the LinearAxes input from the configuration axes of the axes group.
The LinearAxes input has 16 array elements. For the array, specify the index Nos. (1 to 16: configuration axis 1 to
configuration axis 16) of configuration axes to be used for interpolation control by just the number of configuration axes used
for control, and specify "0" for the rest. "0" can be omitted.
• The setting number of the linear interpolation axes must be the maximum number of the interpolation axes for interpolation
control,4, or less.
• The number of configuration axes to be used for interpolation control must be the number of axes registered to the
configuration axes or less.
• When VelocityMode is "2: ReferenceAxisSpeed", the configuration axis of the first element in LinearAxes becomes the
reference axis.
• When specifying as follows, the error "Liner Interpolation Axis Setting Incorrect" (error code: 1AB9H) will occur and the axis
will not start.
• When specifying the configuration axis where the axis is not set
• When the first element of LinearAxes is "0"
• When specifying the same index No. to LinearAxes in duplicate
• When specifying the number of setting axes of LinearAxes to exceed the maximum number of the interpolation axes
Ex.
When setting configuration axis 2, 3, 4 to the linear interpolation axes
LinearAxes: [2 3 4 0 0 0 0 0 0 0 0 0 0 0 0 0]
or
LinearAxes: [2 3 4]
■Position (Target position)/Distance (Movement amount)
Set the target position of the absolute position or the movement amount from the current position at start by the Position/
Distance input. Position/Distance has 16 array elements.
• Position/Distance[0..(N-1)] indicates the target position/movement amount of the configuration axis 1 to N. Set the position
to the configuration axes set in LinearAxes.
• The Position/Distance input for the configuration axes which are not set to the linear interpolation axes is ignored.
• The Position/Distance input of axes after all configuration axes set to the linear interpolation axes can be omitted.
Ex.
When setting the configuration axis 2, 3, 4 to the linear interpolation axes, and the target positions of the configuration axis 2,
3, 4 are 2000, 3000, 4000 respectively
LinearAxes: [2 3 4 0 0 0 0 0 0 0 0 0 0 0 0 0]
Position: [0 2000 3000 4000 0 0 0 0 0 0 0 0 0 0 0 0]
or
LinearAxes: [2 3 4]
Position: [0 2000 3000 4000]
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
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