Mitsubishi Electric MELSEC iQ-R Series User Manual page 279

Execution during axis operation
■Execute at completion
When "1: mcQueued" is set in ExecutionMode, this FB is executed after the on-going FB is completed.
Busy turns TURE by rising edge detection of Execute, and this FB waits until the axis status (AxisName.Md.AxisStatus) turns
"4: Standstill".
As soon as the axis status (AxisName.Md.AxisStatus) turns "4: Standstill", the current position change operation will start.
Ex.
MC_MoveAbsolute
Position
Execute
Done
Busy
5: Discrete
Motion
Axis monitor
AxisName.Md.
AxisStatus
MC_SetPosition
Position
ExecutionMode
Relative
Execute
Done
Busy
Velocity
FB1
Target
address
Set position
■Speculative execution
When specifying "3: mcSpeculatively" to ExecutionMode, if detecting the rising edge pf Execute when the axis status
(AxisName.Md.AxisStatus) is not "4: Standstill" or when there is an on-going FB, the error "Axis Status Incorrect Start" (error
code: 1A26H) will occur.
100.0
4: Standstill
190.0
1: mcQueued
Address after changing current position
8 RELEVANT FUNCTIONS to POSITION
8.1 Current Position Change Function
8
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