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5
API LIBRARY DETAILS (FUNCTION BLOCK)
For the function block class, the MR-J4-GF which is set to not only the motion mode but also the I/O mode can be used as the
control target servo amplifier.
Refer to the servo amplifier instruction manual for details of the motion mode and the I/O mode.
<Motion mode>
High-level motion control, such as high-level positioning control and speed-torque control, can be used. Up to 16 axes can be
controlled.
The station-specific mode of "Communication mode setting for CC-Link IE communication (PN03)" for MR-J4-GF is used with
"0: Motion mode".
<I/O mode>
The servo amplifier built-in positioning function is used. Up to 120 stations can be controlled.
The station-specific mode of "Communication mode setting for CC-Link IE communication (PN03)" is used with "1: I/O mode".
5.1
MC_FunctionBlock Class
This class provides Motion control functions for the specifications of the PLCopen Motion control function blocks.
class MC_FunctionBlock
Member
■Public method
Category
Update method
■Public data member
Variable name
Tag
■Derived classes
: Available, : Not available
Name
MC_Power
MCv_Home
MC_Stop
MC_MoveAbsolute
MC_MoveRelative
MC_Reset
MC_MoveAdditive
MC_MoveVelocity
MC_TorqueControl
MC_SetPosition
MC_SetOverride
MC_ReadActualPosition
5 API LIBRARY DETAILS (FUNCTION BLOCK)
144
5.1 MC_FunctionBlock Class
Name
Description
Update
Updates the I/O data of the function block.
Data type
Initial value
long long
0
Description
Changes the servo amplifier of the specified axis to an
operable state.
Executes home position return for the specified axis.
Stops the specified axis.
Specifies the absolute target position of the specified
axis and executes positioning.
Moves the specified distance from the current position.
Cancels the errors of the specified axis.
Adds the relative position specified by the positioning
command of the specified axis immediately before, and
executes positioning.
Executes speed control for the specified axis at the
specified speed.
Executes torque control for the specified axis at the
specified torque.
Changes the current position (command position and
feedback position) of the specified axis.
Changes the target speed of the specified axis.
Reads the current position of the specified axis.
Reference
Page 152 MC_FunctionBlock::Update
Description
A variable that the user may use freely.
An integer value or pointer can be cast to long long type and stored.
Motion
I/O mode Reference
mode
Page 153 MC_Power class
Page 155 MCv_Home class
Page 157 MC_Stop class
Page 159 MC_MoveAbsolute class
Page 162 MC_MoveRelative class
Page 165 MC_Reset class
Page 167 MC_MoveAdditive class
Page 169 MC_MoveVelocity class
Page 171 MC_TorqueControl class
Page 173 MC_SetPosition class
Page 175 MC_SetOverride class
Page 177 MC_ReadActualPosition
class
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