Label Initialization Function; Program Creation Procedure For The Motion Module - Mitsubishi Electric MELSEC iQ-R Series User Manual

■Precautions
• When changing the execution type of an initial execution type program or a fixed scan execution type program, it is not
possible to revert back to the original execution type.
• When multiple instructions are executed in a single program, the last instruction determines the operation.
• The change in execution type is not reflected until processing for the relevant program completes.

Label initialization function

For the Motion system, label initialization processing is performed when the power turns from OFF to ON and also at
STOPRUN.
The execution details for initialization processing are shown below.
Label
Motion label Parameter
Non-parameter
User-defined global label
User-defined local label
*1 When performing STOPRUN 2 or more times through settings, setting of the initial value can be performed.
Item
Label initial value is reflected at
STOPRUN (2nd and subsequent
time)

Program creation procedure for the Motion module

This section describes the areas that need to be set for the Motion system using an engineering tool as well as the procedure
for creating ST programs.
1.
Parameter settings
Set the module configuration and the CPU parameters. (Page 601 Parameter settings)
2.
Network settings
Set network related parameters in "Module Parameter (Network)".
Set the servo amplifiers to connect using CC-Link IE TSN in "Network Configuration Settings".
(Page 602 Network settings)
3.
Module parameter settings
Carry out the setting of RD78G related operations in "Module Parameter (Motion)". (Page 605 Module parameter
settings)
4.
Module extended parameter setting
Carry out the setting of RD78G axis control related areas using the "Motion Control Setting Function".
• Basic settings (Page 606 Basic settings)
• System settings (Page 607 System settings)
• Axis (Page 610 Axis)
• Axis group (Page 618 Axis group)
5.
ST program creation (Page 620 ST program creation)
Create an ST language program to operate RD78G with using the "Motion Control Setting Function".
• Inserting Motion control FBs (Page 621 Inserting Motion control FBs)
• Registering labels (Page 621 Registering labels)
APPX
600
Appendix 2 Motion Module Programs
Initial value Operation for label initialization
setting
Power OFFON
provided/
none

Set the initial value
 Set the initial value
Provided Set the initial value
None Set the initial value (=0)
 (no labels configured)
Provided
 (no labels configured)
None
Description
Specify whether or not to set the label initial value at STOPRUN
(2nd and subsequent time). (Values are always reflected the first
time.)
When STOPRUN
First time
No operation (value is stored)
*1
No operation (value is stored)
No operation (value is stored)
Set the initial value
Set the initial value (=0)
Setting range
• Enable
• Disable
2nd and subsequent time
*1
No operation (value is stored)
No operation (value is stored)
Initial value
Enable