Mitsubishi Electric MELSEC iQ-R Series User Manual page 177

■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
Movement Distance
amount
Velocity Velocity
Acceleration Acceleration
Deceleration Deceleration
Jerk Jerk
Buffer mode BufferMode
Options Options
■Output variables
Name Variable name
Execution completion Done
Executing Busy
Controlling Active
Abortion of execution CommandAborted
Error Error
Error code ErrorID
Data type Input Setting range
import
 
AXIS_REF
Data type Import Setting range

BOOL TRUE, FALSE

BOOL TRUE, FALSE
/R/C Page 185
LREAL
Distance
(Movement amount)
/R/C
LREAL Page 71
Velocity set range
/R/C Page 295
LREAL
Relevant variables
/R/C
LREAL Page 295
Relevant variables
 Page 295
LREAL
Relevant variables

MC_BUFFER_ 0 to 5
MODE
 Page 186
DWORD(HEX)
Options (Options)
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
WORD(UINT)
Default Description
value
Page 568 Axis variables
Omission
not possible
Default Description
value
FALSE When TRUE, it executes the FB.
FALSE During TRUE, it can continuously change the
movement amount, the speed, the acceleration,
and the deceleration.
0 Sets the relative position according to unit of axis
from the current position at start to the end point.
0 Sets the velocity according to unit of axis.
0 Sets the acceleration according to unit of axis.
0 Sets the deceleration according to unit of axis.
0 Sets the jerk according to unit of axis.
0 Selects the buffer mode.
0: mcAborting (Aborting)
1: mcBuffered (Buffered)
2: mcBlendingLow (BlendingLow)
3: mcBlendingPrevious (BlendingPrevious)
4: mcBlendingNext (BlendingNext)
5: mcBlendingHigh (BlendingHigh)
0 Sets a function option.
Default Description
value
FALSE When TRUE, it indicates that the output value is
valid.
FALSE Indicates that the FB is in execution.
FALSE Indicates that the axis is being controlled.
FALSE It indicates that another FB has aborted the
execution of the FB.
Turns TRUE when this FB is stopped by an error
or this FB is started during an error occurence.
Turns FALSE when Execute = FALSE.
FALSE When TRUE, it indicates that an error has
occurred in the FB.
0 The error code generated in the FB is returned.
For details, refer to the following.
Page 534 List of Error Codes
6 AXIS CONTROL FUNCTION
6.1 Single Axis Positioning Control
6
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