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Error code
Value
MMERR_FB_AXIS_ERROR
MMERR_FB_START_NOT_POSSIBLE
MMERR_FB_AXIS_STOPPED
MMERR_FB_AXIS_NUMBER
MMERR_FB_POSITIONIG_DATA_NUMBER
MMERR_FB_POSITION
MMERR_FB_VELOCITY
MMERR_FB_ACCDEC
Point
• This function block adds the specified relative position to the most recent positioning command of the specified axis, and
executes positioning.
• When Execute=ON, the function block is executed. If processing starts normally, Busy turns ON.
• When processing is completed and the axis completes positioning, Done turns ON.
• The axis state (FbAxisStatus) during positioning control is the DiscreteMotion state.
• This function block can be used in a Standstill state or DiscreteMotion state. It cannot be used in the ContinuousMotion
state.
• When executing this function block during the execution of continuous control function blocks (MC_MoveVelocity,
MC_TorqueControl), execute with the axis in a stopped state.
• This class uses one point of positioning data. Use positioning data by setting a position data No. (a No. that is not being
used for any other application) to be used in this class.
• When used with positioning operation function blocks, the operation for function blocks that are executed after is the
operation of the target position change function. When the accumulated movement amount from the position of execution
of the first function block exceeds "-2147483648 to 2147483647", an error occurs.
• When executing the function block in a state with "[Cd.183] Execution prohibition flag" turned ON, start the positioning
control by turning OFF "[Cd.183] Execution prohibition flag" while the function block execute command (Execute) is ON. If
the function block execute command (Execute) is turned OFF before "[Cd.183] Execution prohibition flag" is turned OFF,
the function block is in a state where it has received start, and positioning control cannot be cancelled by turning OFF
Execute only. When cancelling, use MC_Stop.
Supported version
API version
1.00
Inheritance hierarchy
MC_FunctionBlock
MC_MoveAdditive
5 API LIBRARY DETAILS (FUNCTION BLOCK)
168
5.1 MC_FunctionBlock Class
Description
An error occurred.
Positioning can not be started.
The axis is in a Stopping state, or the stop command for the axis is ON.
A value outside the range is set to the axis No.
A value outside the range is set to the positioning data No.
A value outside the range is set to the target position, and movement amount.
A value outside the range is set to the speed.
A value outside the range is set to the acceleration/deceleration time.
Software version
01
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