Mitsubishi Electric MELSEC iQ-R Series User Manual page 174

[When an error occurs]
Execute
Done
Busy
Active
Error
ErrorID
■I/O variable
Import : At start
Name Variable
name
Axis information Axis
■Input variables
Import : At start, R: Retrigger possible, C: Continuous update possible
Name Variable
name
Execute Execute
command
Continuous ContinuousUpd
update ate
Target position Position
Velocity Velocity
Acceleration Acceleration
Deceleration Deceleration
Jerk Jerk
Direction Direction
selection
Buffer mode BufferMode
Option Options
■Output variables
Name
Execution completion
Executing
6 AXIS CONTROL FUNCTION
172
6.1 Single Axis Positioning Control
Error code
Data type Input
import

AXIS_REF
Data type Import

BOOL

BOOL
/R/C
LREAL
/R/C
LREAL
/R/C
LREAL
/R/C
LREAL

LREAL

MC_DIRECTIO
N

MC_BUFFER_
MODE

DWORD(HEX)
Variable name Data type
Done BOOL
Busy BOOL
Setting range Default
value

Omission not
possible
Setting range Default
value
TRUE, FALSE FALSE
TRUE, FALSE FALSE
Page 176
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Position (Target
position)
Page 71
0
Velocity set range
Page 295
0
Relevant variables
Page 295 0
Relevant variables
Page 295 0
Relevant variables
1 to 4 0
0 to 5 0
Page 183 0
Options (Options)
Default
value
FALSE
FALSE
Description
Page 568 Axis variables
Description
When TRUE, it executes the FB.
During TRUE, it can continuously change the
target position, the speed, the acceleration, and
the deceleration.
Sets the target position of the absolute position
according to unit of axis.
Sets the velocity according to unit of axis.
Sets the acceleration according to unit of axis.
Sets the deceleration according to unit of axis.
Sets the jerk according to unit of axis.
Sets the direction selection.
1: mcPositiveDirection (Positive direction)
2: mcNegativeDirection (Negative direction)
3: mcShortestWay (Shortest path)
4: mcCurrentDirection (Current direction)
Selects the buffer mode.
0: mcAborting (Aborting)
1: mcBuffered (Buffered)
2: mcBlendingLow (BlendingLow)
3: mcBlendingPrevious (BlendingPrevious)
4: mcBlendingNext (BlendingNext)
5: mcBlendingHigh (BlendingHigh)
Sets a function option.
Description
During TRUE, it indicates that the output value is
valid.
Indicates that the FB is in execution.