Chapter 3 Fb Library; Function Overview Of The Fb Library; List Of Fbs; Restrictions And Precautions - Mitsubishi Electric MELSEC-Q-MR-JE-C Reference Manual

3
FB LIBRARY
3.1

Function Overview of the FB Library

List of FBs

The following table lists the FBs used in the MELSEC-Q series QnUDVCPU module.
This library controls up to 16 stations of the servo amplifier MR-JE-C.
The MR-JE-C uses the default mapping of the cyclic communication in the profile mode.
For details, refer to the instruction manual of the servo amplifier in use.
MotionControl_JEC
Item
MC_Power_JEC
MCv_Home_JEC
MC_Stop_JEC
MC_Halt_JEC
MC_MoveAbsolute_JEC
MC_MoveRelative_JEC
MC_MoveAdditive_JEC
MC_MoveVelocity_JEC
MC_TorqueControl_JEC
MC_ReadActualPosition_JEC
MC_ReadActualVelocity_JEC
MC_ReadActualTorque_JEC
MC_ReadStatus_JEC
MC_ReadAxisInfo_JEC
MC_ReadAxisError_JEC
MC_Reset_JEC

Restrictions and precautions

Item Description
Restrictions and The following describes restrictions and precautions common to all FBs.
The restrictions and precautions specific to each FB are separately described. Refer to  Page 23 Details of the FB Library.
precautions
• The FB does not include error recovery processing. Program the error recovery processing separately in accordance with the
required system operation.
• The FB does not detect an alarm or a warning that has occurred in the servo amplifier. Program the processing to monitor alarms
and warnings in the servo amplifiers. For the alarms and warnings that have occurred in the servo amplifiers, refer to the
instruction manual of the servo amplifiers in use.
• The FB cannot be used in an interrupt program.
• Please ensure that an execution command (Execute or Enable) can be turned OFF with a program. Do not use this FB in
programs that are only executed once, such as a subroutine program and FOR-NEXT loop because an execution command
(Execute or Enable) cannot be turned OFF in these programs.
• The number of FB steps in a program varies depending on the CPU model to be used and I/O definitions.
• A duplicated coil warning may occur during compilation. However, the warning does not generate any problems.
• Set a circuit for each input label in an FB.
• When two or more FBs are used, be careful not to repeatedly specify and simultaneously start an axis.
• When an execution command (Execute or Enable) is turned ON, the FB reads data of the input label. Thus, set the input label
before turning ON an execution command (Execute or Enable).
• Do not change the values of other input labels after turning ON an execution command (Execute or Enable). For some FBs such
as the one whose operation type is real-time execution, however, input labels can be changed even after an execution command
(Execute or Enable) is turned ON. For details, refer to  Page 23 Details of the FB Library.
• The FBs controls 16 slave stations. Set a station number of the servo amplifier within the setting range.
• The FBs control the servo amplifier MR-JE-C in the profile mode of the control mode. Set the parameter (PA01) of the servo
amplifier to the profile mode. Use the default mapping for the cyclic communication.
Description
Operation possible
Home position return
Forced stop
Stop
Absolute value positioning
Relative value positioning
Commanded position change
Velocity control
Torque control
Current position read
Current velocity read
Current torque read
Status read
Axis information read
Axis error read
Axis error reset
Version
00A
00A
00A
00A
00A
00A
00A
00A
00A
00A
00A
00A
00A
00A
00A
00A
3 FB LIBRARY
3.1 Function Overview of the FB Library
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