Chapter 4 Start And Stop; Start; Relevant Variables - Mitsubishi Electric MELSEC iQ-R Series User Manual

4
START AND STOP
4.1

Start

This section describes how to start an axis of the motion system.
In the motion system, motion control can be executed by executing motion control function blocks with programs of the control
CPU module, such as the PLC CPU and the C language CPU, or the motion system built-in program language such as ST
language.
Starting the motion control by executing the motion FB with the axis status (AxisName.Md.AxisStatus) of "4: Standstill" or the
axes group status (AxesGroupName.Md.GroupStatus) of "4: GroupStandby" is called "start" of the axis.
Function blocks include the Execute type and the Enable type, and these are started at the rising edge of Execute or Enable
which are input variables of the motion control function block.

Relevant variables

Variable/Structure name
AxisName.Md.
AxisStatus
UseInGroup
Homing_Request
HwStrokeLimit_FlsStatus
HwStrokeLimit_RlsStatus
ForcedStop_Released
StopStatus
AxesGroupName.Md.
GroupStatus
System.Cd.
SequenceReady
System.Md.
Ready
Sync
4 START AND STOP
104
4.1 Start
Name
Axis status
Use in axes group
Homing request
Upper limit signal status
Lower limit signal status
Forced stop cancelling
Stop status
Axes group status
PLC ready
Ready
Synchronization flag
Details
Stores the axis status.
0: Disabled (Axis disabled)
1: ErrorStop (Error stop)
2: Stopping (Deceleration stop)
3: Homing (Homing)
4: Standstill (Standby)
5: DiscreteMotion (Positioning operation)
6: ContinuousMotion (Continuous operation)
7: SynchronizedMotion (Synchronized operation)
Displays whether the axis is used in the axes group or not.
FALSE: Not used
TRUE: Used
Displays TRUE/FALSE of the homing request.
Displays TRUE/FALSE of the FLS.
Displays TRUE/FALSE of theRLS.
Displays forced stop cancel status.
Displays TRUE/FALSE of the stop signal (STOP).
Stores the axes group status.
0: GroupDisabled (Axes group disabled)
1: GroupErrorStop (Error stop)
2: GroupStopping (Deceleration stop)
4: GroupStandby (Standby)
5: GroupMoving (Operation)
Sets RUN/STOP of the PLC READY [Y0].
Stores ON/OFF of the ready [X0].
Stores ON/OFF of the synchronization flag [X1].