Mitsubishi Electric MELSEC iQ-R Series User Manual page 185

• Current direction
4: mcCurrentDirection
The direction of the previous instruction (Motion) is repeated. When no instruction has executed, the positive direction is used
for operation. When the movement amount is 0 at the previous instruction, the last-but-one movement direction is used.
(Ignored even if specifying the direction at previous instruction).
The previous FB is positioning: Address increases/decreases from the start point to the end point (increase: positive direction,
decrease: negative direction)
The previous FB is synchronization: Sign of movement amount (+: positive direction, -: negative direction)
Positioning operation exceeding the ring counter range can be executed by enabling the option. For details of operation, refer
to the following.
Page 177 Direction (Direction selection)
■BufferMode (Buffer mode)
Select the buffer mode. Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh can be set. For
details, refer to the following.
Page 107 Buffer mode type
■Options (Options)
Set the function options that are used in MC_MoveAbsolute by specifying the bit.
The details of bit and the functions are shown below.
Bit Function description
0 to 2 Acceleration/deceleration method setting
0: mcAccDec (Acceleration/deceleration specification method)
1: mcFixedTime (Acceleration/deceleration time-fixed method)
For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
3 to 4 Empty (Specify "0".)
5 Reverse rotation permission selection
0: Allow
1: Not allow
It is valid when specifying Aborting of buffer mode or changing target position. For details, refer to the following.
Page 107 Multiple Start (Buffer Mode)Page 351 Target position change
6 to 15 Empty (Specify "0".)
16 Target position specification exceeding the ring counter
Specifies whether the target position that exceeds the ring counter upper/lower limit value is allowed or not when the software
stroke limit is invalid.
0: Not allow
1: Allow
17 to 31 Empty (Specify "0".)
*1 If specifying "1", the error "Out of Options Range" (error code: 1A4EH) will occur, and the axis will not start.
■Done (Execution completion)
It turns TRUE when reaching the target position.
■Busy (Executing)
It is TRUE during the instruction execution. It turns FALSE after reaching the target position.
■Active (Controlling)
It is TRUE while the axis is controlled. It turns FALSE after reaching the target position.
■CommandAborted (Abortion of execution)
It turns TRUE when another instruction is started during the execution of this FB.
■Error (Error)
It turns TRUE when an error is occurring in this FB.
■ErrorID (Error code)
The error code generated in this FB is returned.
*1
*1
*1
6 AXIS CONTROL FUNCTION
6.1 Single Axis Positioning Control
6
183