Mitsubishi Electric MELSEC-Q-MR-JE-C Reference Manual page 39

Function overview
Item Description
Applicable hardware and Applicable CPU
software
Applicable engineering tool
Language Structured Text
Number of basic steps 1188 steps
Function description This FB adds the specified relative position in the previous positioning command of the specified axis and executes
positioning.
This FB is executed when Execute turns ON, and Busy turns ON when the processing is normally started.
When the processing is completed and positioning of the axis is completed, Done turns ON.
The axis status during positioning control is DiscreteMotion.
This FB can be used when the axis status is Standstill or DiscreteMotion. It cannot be used when the axis status is
ContinuousMotion.
When an error has occurred in the FB, this FB turns ON Error and stores an error code in ErrorID.
For details of error codes, refer to  Page 61 Troubleshooting.
Restrictions and precautions
FB operation type Pulsed execution (multiple scan execution type)
Timing chart [Normal completion]
[Error completion]
• Before executing this FB, set the torque limit value (PositiveTorqueLimit, NegativeTorqueLimit) of the AXIS_REF
structure.
• When executing this FB while the continuous control FB is in execution (AxisStatus is ContinuousMotion), execute this FB
with the axis stopped.
• When turning OFF an execution command (Execute) after turning it ON, be sure to turn it OFF after Executing (Busy) is
ON.
• This FB cannot be executed when a positioning warning (alarm number: F4) is occurring in the servo amplifier.
• This FB cannot be used to control the axis of which the unit is set as degree.
• When another positioning control FB is executed with an execution completion (Done) of this FB, do not turn ON the
execution command (Execute) of the another FB to be executed, and turn OFF the execution command (Execute) of the
executed FB in the same scan. Otherwise, an error occurs in the another FB to be executed.
Execute
Busy
Done
CommandAborted
Error
ErrorID
Execute
Busy
Done
CommandAborted
Error
ErrorID
QnUDVCPU
GX Works2
0
Error code
3.2 Details of the FB Library
3
3 FB LIBRARY
37