Mitsubishi MR-EM340GF User Manual page 153

Label access
■Motion mode
Function block name for PLCopen
Motion control
MC_ReadAxisError
MC_ReadParameter CommandedPosition
SWLimitPos
SWLimitNeg
MaxVelocityAppl
ActualVelocity
CommandedVelocity
MC_WriteParameter MaxVelocityAppl
MC_ReadDigitalInput
MC_ReadDigitalOutput
MC_WriteDigitalOutput
MC_ReadActualPosition
MC_ReadActualVelocity
MC_ReadActualTorque
MC_ReadAxisInfo HomeAbsSwitch
LimitSwitchPos
LimitSwitchNeg
CommunicationReady
ReadyForPowerOn
PowerOn
*3
IsHomed
AxisWarning
*1 =1 to 16: Axis No.
*2 The correspondence of CommunicationReady of MC_ReadAxisInfo and "[Md.26] Axis operation status" is shown below.
CommunicationReady
OFF
ON
*3 The correspondence of IsHomed of MC_ReadAxisInfo and Home position return request flag ("[Md.31] Status": b3) is shown below.
IsHomed
OFF
ON
■I/O mode
Function block name for PLCopen
Motion control
MC_ReadDigitalInput
MC_ReadDigitalOutput
MC_WriteDigitalOutput
Label name
AxisErrorNo
TargetPosition
SoftwareStrokeUpperLimit
SoftwareStrokeLowerLimit
SpeedLimitValue
SpeedDuringCommand
AxisCommandSpeed
MotorRotationSpeed
TargetSpeed
SpeedLimitValue
Refer to MMC_Io class for details of labels
for accessing the link device (Page 87
MMC_Io Class)
CommandPosition
MachineCommandPosition
ActualPosition
SpeedDuringCommand
AxisCommandSpeed
TorqueDuringCommand
*1
Axis_DOG
*1
Axis_FLS
*1
Axis_RLS
*2
AxisOperationStatus
ServoStatus1_Ready
ServoStatus1_Servo
Status_HomingRequest
Status_Warning
[Md.26] Axis operation status
20
Other than 20
Home position return request flag
ON
OFF
Label name
Refer to MMC_Io class for details of labels for
accessing the link device (Page 87 MMC_Io
Class)
Description
[Md.23] Axis error No.
[Md.32] Target value
[Pr.12] Software stroke limit upper limit value
[Pr.13] Software stroke limit lower limit value
[Pr.8] Speed limit value
[Md.122] Speed during command (during speed control
only)
[Md.28] Axis feedrate (except for during speed control)
[Md.103] Motor rotation speed
[Md.33] Target speed
[Pr.8] Speed limit value
Link device (RX area, RY area, RWw area, RWr area)
[Md.20] Feed current value
[Md.21] Machine feed value
[Md.101] Real current value
[Md.122] Speed during command (during speed control
only)
[Md.28] Axis feedrate (except for during speed control)
[Md.123] Torque during command (during torque control
only)
Proximity dog signal ("[Md.30] External input signal": b6)
Upper limit signal ("[Md.30] External input signal": b1)
Lower limit signal ("[Md.30] External input signal": b0)
[Md.26] Axis operation status
READY ON ("[Md.108] Servo status1": b0)
Servo ON("[Md.108] Servo status1": b1)
Home position return request flag ("[Md.31] Status": b3)
Axis warning detection ("[Md.31] Status": b9)
Description
Link device (RX area, RY area, RWw area, RWr
area)
5 API LIBRARY DETAILS (FUNCTION BLOCK)
5.1 MC_FunctionBlock Class
5
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