How To Read This Manual - Mitsubishi Electric MELSEC iQ-R Series User Manual

HOW TO READ THIS MANUAL

This section describes how to use motion control FBs (MCFB) and the common specifications.
The MCFB that can be used in the motion system includes FBs established by PLCopen
signals follow the MCFB of PLCopen
How to use MCFB
Procedure to use MCFB is described as follows.
1.
Instance of the MCFB (Global label or local level) is created by engineering tool.
2.
Program which sets I/O argument is created for the created MCFB instance.
3.
When turning Execute input or Enable input of MCFB, the control will be executed. For details, refer to the specification
of each control and "Start" and "Stop".
When one MCFB instance is executed (including during buffering), the multipul axes can not be shared by
changing axis input (AXIS_REF input or AXES_GROUP_REF input). The axis input of MCFB can be changed
only at the nonexecution. When the axis input is changed in execution, a warning will occur and the change
will be ignored. Therefore, the MCFB instance is required to be created for only the numbers of the axis to be
controled at the same time.
Operation of this function for each system state
The MCFB can be executed only during RUN.
: Possible, : Not possible
System state
STOP
RUN
Moderate error
Major error
FB types
The MCFB is classified according to the operation details and the execution method.
■Motion FB/administrative FB/general FB
The following types are included in the MCFB according to the operation details.
Type
Motion FB
Administrative FB
General FB
[Combination of FBs]
• The motion FB can be basically executed only one to an axis or an axes group. However, some FBs can be executed at the
same time. For details, refer to each FB specifications. For specifications for multiple start, refer to the following.
Page 107 Multiple Start (Buffer Mode)
• The administrative FB can basically execute multiple instances to an axis or an axes group at the same time. For the case
when starting the multiple administrative FBs, refer to each FB specifications.
• Even if an administrative FB is executed while a motion FB is executed, the axis status or the axes group status will not be
basically changed. However, some FBs can cause a specific state transition. For details, refer to each FB specifications.
• The general FB can simultaneously execute multiple instances. Since it is not related to the axis, it does not affect the
motion FB or the administrative FB each other.
24

.
Operation possible/not possible




Description
The MCFB that takes an axis or an axes group for the argument and changes the axis status or the axes group status by
execution.
The MCFB that takes an axis or an axes group for the argument and does not change the axis status or the axes group
status by execution. (There are some exceptions)
The MCFB that does not take an axis or an axes group for the argument.

. The basic specifications of I/O