Mitsubishi Electric MELSEC iQ-R Series User Manual page 596

For a program using labels
While label programming can be performed by assigning global labels to the Motion module buffer memory, labels cannot be
cross-referenced between the CPU module and the Motion module.
A double-precision real number (LREAL-type) cannot be transferred to the buffer memory by ST instruction
when sending data from the CPU module to the Motion module. The reading/writing of double-precision real
number-type labels can be performed by using a dedicated instruction.
Variables
The variables used in programs fall into two categories, devices and labels. Areas related to axis control, such as parameters,
monitor data, and control commands, are assigned to the labels (structure) provided by the system.
Type
Device
Label
Precautions
■Inputting project data
While the power is ON, reload of areas such as label definitions, initial values, and programs is not performed. To reflect
changes in the written project, turn the power from OFF to ON.
■Calling MCFB instances
Calling a single MCFB instance from multiple programs can cause unforeseen operations to occur.
■Inconsistency caused by variable bit-specification/digit specification for bit-type devices
If access is performed from tasks with different execution cycles by variable-bit specification or bit-type device digit
specification, inconsistency may occur producing an unintended operation result. Correct the execution cycles so that they
are the same or access another area in word units.
Ex.
Inconsistency occurs when switching between the following
• Normal execution type programfixed scan execution type program
• Normal execution type programupdating through the Motion system
• Normal execution type programaccessing from a PLC or other external device
■Array elements
When accessing the element defined in an array, access it within the range of the number of elements. If a constant out of the
range defined for the array index is specified, an error will occur when converting the program. If the array index is specified
with data other than a constant, an error will not occur when converting the program and processing will be performed by
accessing another device.
APPX
594
Appendix 2 Motion Module Programs
Description
These variables are expressed as a name and number.
The name, type, and method of use are defined by the system.
■Devices that are usable by the Motion system
• Buffer memory(G)
• Link special relay(SB)
• Link special register(SW)
These variables are expressed with a given character string.
The label defined by the system for the name, type, and method of use as well as the label defined by the user are
available.