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2  POSITIONING MODULE FB

2.2  M+FX5PG_StartPositioning

11

2

Error code

Restrictions or precautions

• This FB does not include the error recovery processing. Program the error recovery processing separately in accordance 

with the required system operation.

• This FB cannot be used in an interrupt program.
• Do not use this FB in programs that are executed only once, such as a subroutine program or FOR-NEXT loop, because 

i_bEN (Execution command) cannot be turned off and the normal operation cannot be acquired. Always use this FB in 
programs that can turn off i_bEN (Execution command).

• This FB turns on and off Positioning start signal (Cd.184: Positioning start signal). Thus, do not turn on and off Positioning 

start signal (Cd.184: Positioning start signal) by other means while this FB is being executed.

• When this FB is used twice or more, precaution must be taken to avoid duplication of the target axis.
• This FB does not set the data when started. Data required for controlling the start No. must be set on the parameter or buffer 

memory.

• Every input must be provided with a value for proper FB operation.
• The pulse output mode and external input/output signal logic, etc. must be set according to the connected devices and 

system before operating the positioning module. Set the GX Works3 module parameters according to the application. Refer 
to the 

MELSEC iQ-F FX5 User's Manual (Positioning Control - Intelligent function module) for details on setting the 

module parameters.

Error code (hexadecimal)

Description

Action

100

The set value of i_uAxis (Target axis) is out of the range.
The target axis is not within the range of 1 to 4.

Try again after checking the setting.

102

The set value of i_uStartNo (Cd.3: Positioning start No.) is out 
of the range.
The positioning start No. is not within the range of 1 to 600, 
7000 to 7004, and 9001 to 9004.

Try again after checking the setting.

200

The conditions for positioning start are not satisfied.
Any of the following conditions is not satisfied.

• Ready: ON
• Positioning start signal: OFF
• Start complete signal: OFF
• BUSY signal: OFF

Execute the FB again when all of the following conditions 
are satisfied.

• Ready: ON
• Positioning start signal: OFF
• Start complete signal: OFF
• BUSY signal: OFF

Item

Description

Содержание MELSEC iQ-F

Страница 1: ...MELSEC iQ F FX5 Positioning Module Function Block Reference ...

Страница 2: ......

Страница 3: ...5PG_JOG 12 2 4 M FX5PG_MPG 16 2 5 M FX5PG_ChangeSpeed 18 2 6 M FX5PG_ChangeAccDecTime 21 2 7 M FX5PG_ChangePosition 25 2 8 M FX5PG_Restart 28 2 9 M FX5PG_OperateError 30 2 10 M FX5PG_InitializeParameter 34 2 11 M FX5PG_WriteFlash 36 2 12 M FX5PG_ABRST 38 2 13 M FX5PG_StartAddressOffsetPositioning 42 2 14 M FX5PG_SetTimeOffsetPositioning 47 INDEX 52 REVISIONS 54 ...

Страница 4: ...Speed Changes the speed M FX5PG_ChangeAccDecTime Changes the acceleration deceleration time during speed change M FX5PG_ChangePosition Changes the target position M FX5PG_Restart Restarts an axis that has stopped M FX5PG_OperateError Monitors errors and warnings and resets errors M FX5PG_InitializeParameter Initializes parameters M FX5PG_WriteFlash Writes positioning data and block start data in t...

Страница 5: ...1 FUNCTION BLOCK FB LIST 3 1 MEMO ...

Страница 6: ...DataNo Positioning data No Word Unsigned 1 to 600 Specify the positioning data No No Variable name Name Data type Default value Description 5 o_bENO Execution status Bit OFF ON The execution command is ON OFF The execution command is OFF 6 o_bOK Normal completion Bit OFF When this label is ON it indicates that the positioning data setting has been completed 7 o_bErr Error completion Bit OFF When t...

Страница 7: ...ircular interpolation control with sub point specified ABS 0EH INC Circular interpolation control with sub point specified INC 0FH ABS Circular interpolation control with center point specified ABS CW 10H ABS Circular interpolation control with center point specified ABS CCW 11H INC Circular interpolation control with center point specified INC CW 12H INC Circular interpolation control with center...

Страница 8: ... 18 M code On signal output timing 1 WITH mode 2 AFTER mode 17 pb_uABS Da 28 ABS direction in degrees Word Unsigned 0 to 3 Set the ABS movement direction for the position control when the unit is degree When 4 or higher which is out of the setting range is specified b0 and 1 are enabled For example when 4 is set 0 is applied 0 Setting value of Cd 40 ABS direction in degrees 1 ABS clockwise 2 ABS c...

Страница 9: ...nit setting 2 Not used Set 0 Item Description Available device Target module FX5 20PG P Target CPU FX5U CPU FX5UC CPU Engineering tool GX Works3 Version 1 035M or later Language Ladder diagram Number of basic steps 274 steps The number of FB steps integrated in the program varies depending on the CPU module used the input output definition and the setting options of GX Works3 For the setting optio...

Страница 10: ... value for proper FB operation The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before operating the positioning module Set the GX Works3 module parameters according to the application Refer to the MELSEC iQ F FX5 User s Manual Positioning Control Intelligent function module for details on setting the module parameters Error...

Страница 11: ...Set the positioning start No corresponding to the control to be started in Cd 3 Positioning start No 1 to 600 Positioning data No 7000 to 7004 Block start specification 9001 Machine OPR 9002 Fast OPR 9003 Current value change 9004 Multiple axes simultaneous start No Variable name Name Data type Default value Description 5 o_bENO Execution status Bit OFF ON The execution command is ON OFF The execu...

Страница 12: ... ready signal Md 140 Module status b0 ON Positioning start signal Cd 184 Positioning start signal OFF Start complete signal Md 31 Status b14 OFF BUSY signal Md 141 BUSY b0 b1 OFF When Start complete signal Md 31 Status b14 turns on or i_bEN Execution command is turned off Positioning start signal Cd 184 Positioning start signal is turned off If the setting value of the target axis is out of the se...

Страница 13: ...r or buffer memory Every input must be provided with a value for proper FB operation The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before operating the positioning module Set the GX Works3 module parameters according to the application Refer to the MELSEC iQ F FX5 User s Manual Positioning Control Intelligent function mod...

Страница 14: ...JogSpd Cd 17 JOG speed Double Word Unsigned 0 to 2000000000 0 to 3000000000 0 to 5000000 Specify the JOG speed Set 0 for the inching operation Pr 1 Unit setting 0 mm 0 to 2000000000 10 2 mm min Pr 1 Unit setting 1 inch 0 to 2000000000 10 3 inch min Pr 1 Unit setting 2 degree 0 to 3000000000 10 3 degree min Pr 1 Unit setting 3 pulse 0 to 5000000 pulse s 7 i_uInching Cd 16 Inching movement amount Wo...

Страница 15: ...mmand and i_bRJog Reverse run JOG command are on at the same time the operation stops When i_bEN Execution command is turned off during the operation that has been started by i_bFJog Forward run JOG command or i_bRJog Reverse run JOG command the operation stops When i_bRJog Reverse run JOG command is turned on during the forward run JOG operation the operation stops However when i_bRJog Reverse ru...

Страница 16: ... i_bFJog Cd 181 Forward run JOG start signal Cd 182 Reverse run JOG start signal i_bEN o_bENO i_bRJog o_bOK o_bErr o_uErrId BUSY signal Md 141 BUSY b0 Cd 181 Forward run JOG start signal Cd 182 Reverse run JOG start signal BUSY signal Md 141 BUSY b0 o_bENO i_bFJog i_bRJog o_bOK o_bErr o_uErrId i_bEN 0 Cd 181 Forward run JOG start signal Cd 182 Reverse run JOG start signal o_bENO i_bFJog i_bRJog o_...

Страница 17: ...id duplication of the target axis Setting a large value for the JOG speed from the beginning is dangerous For safety set a small value first and increase the value gradually while checking the operation to determine the value optimal for the control When values other than 0 are set in both i_uInching Cd 16 Inching movement amount and i_udJogSpd Cd 17 JOG speed the inching operation is performed Ev...

Страница 18: ...ue is 10001 or higher the magnification is 10000 No Variable name Name Data type Default value Description 5 o_bENO Execution status Bit OFF ON The execution command is ON OFF The execution command is OFF 6 o_bOK Normal completion Bit OFF When this label is ON it indicates that the manual pulse generator operation has been enabled 7 o_bErr Error completion Bit OFF When this label is ON it indicate...

Страница 19: ...ly once such as a subroutine program or FOR NEXT loop because i_bEN Execution command cannot be turned off and the normal operation cannot be acquired Always use this FB in programs that can turn off i_bEN Execution command Do not change i_uAxis Target axis while i_bEN Execution command is ON When this FB is used twice or more precaution must be taken to avoid duplication of the target axis Every ...

Страница 20: ...Unsigned 0 to 2000000000 0 to 3000000000 0 to 5000000 Set a new speed Pr 1 Unit setting 0 mm 0 to 2000000000 10 2 mm min Pr 1 Unit setting 1 inch 0 to 2000000000 10 3 inch min Pr 1 Unit setting 2 degree 0 to 3000000000 10 3 degree min Pr 1 Unit setting 3 pulse 0 to 5000000 pulse s No Variable name Name Data type Default value Description 5 o_bENO Execution status Bit OFF ON The execution command i...

Страница 21: ...n command the speed used for the control is changed to a new speed If the setting value of the target axis is out of the setting range o_bErr Error completion turns on and the processing of this FB is interrupted In addition the error code 100 hexadecimal is stored in o_uErrId Error code For the error code refer to Page 20 Error code FB compilation method Macro type FB operation Pulse execution mu...

Страница 22: ...n command is turned on while BUSY signal Md 141 BUSY b0 b1 is OFF o_bErr Error completion turns on and the processing of this FB is interrupted In addition the error code 201 hexadecimal is stored in o_uErrId Error code For the error code refer to Page 20 Error code The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before ope...

Страница 23: ...608 ms Set a new acceleration time When 0 is set the acceleration time is not changed after the speed is changed In this case the operation is controlled at the previously set acceleration time 6 i_udNewDecTime Cd 11 New deceleration time value Double Word Unsigned 0 to 8388608 ms Set a new deceleration time When 0 is set the deceleration time is not changed after the speed is changed In this case...

Страница 24: ...e Cd 10 New acceleration time value and i_udNewDecTime Cd 11 New deceleration time value are set and Cd 12 Acceleration deceleration time change during speed change enable disable selection is changed to 1 Acceleration deceleration time change enabled When i_bEnable Acceleration deceleration time change enabled flag is OFF i_udNewAccTime Cd 10 New acceleration time value and i_udNewDecTime Cd 11 N...

Страница 25: ...ime value Cd 12 Acceleration deceleration time change during speed change enable disable selection i_bEN o_bENO i_bEnable enable o_bOK o_bErr o_uErrId 0 Present value Present value 0 1 Cd 11 New deceleration time value Cd 10 New acceleration time value Cd 12 Acceleration deceleration time change during speed change enable disable selection i_bEN o_bENO i_bEnable disable o_bOK o_bErr o_uErrId Prese...

Страница 26: ...Execution command When this FB is used twice or more precaution must be taken to avoid duplication of the target axis Every input must be provided with a value for proper FB operation The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before operating the positioning module Set the GX Works3 module parameters according to the ...

Страница 27: ...ng 0 mm 2147483648 to 2147483647 10 1 μm Pr 1 Unit setting 1 inch 2147483648 to 2147483647 10 5 inch Pr 1 Unit setting 2 degree 0 to 35999999 10 5 degree Pr 1 Unit setting 3 pulse 2147483648 to 2147483647 pulse INC Pr 1 Unit setting 0 mm 2147483648 to 2147483647 10 1 μm Pr 1 Unit setting 1 inch 2147483648 to 2147483647 10 5 inch Pr 1 Unit setting 2 degree 2147483648 to 2147483647 10 5 degree Pr 1 ...

Страница 28: ...f basic steps 150 steps The number of FB steps integrated in the program varies depending on the CPU module used the input output definition and the setting options of GX Works3 For the setting options of GX Works3 refer to GX Works3 Operating Manual Processing By turning on i_bEN Execution command the target position is changed according to the value set in i_dPosChgAdr Cd 27 Target position chan...

Страница 29: ...cimal is stored in o_uErrId Error code For the error code refer to Page 27 Error code The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before operating the positioning module Set the GX Works3 module parameters according to the application Refer to the MELSEC iQ F FX5 User s Manual Positioning Control Intelligent function mo...

Страница 30: ...ilable device Target module FX5 20PG P Target CPU FX5U CPU FX5UC CPU Engineering tool GX Works3 Version 1 035M or later Language Ladder diagram Number of basic steps 148 steps The number of FB steps integrated in the program varies depending on the CPU module used the input output definition and the setting options of GX Works3 For the setting options of GX Works3 refer to GX Works3 Operating Manu...

Страница 31: ...ed with a value for proper FB operation The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before operating the positioning module Set the GX Works3 module parameters according to the application Refer to the MELSEC iQ F FX5 User s Manual Positioning Control Intelligent function module for details on setting the module paramet...

Страница 32: ...s ON OFF The execution command is OFF 6 o_bOK Normal completion Bit OFF When this label is ON it indicates that error reset has been completed 7 o_bModuleErr Axis error detection Bit OFF When this label is ON it indicates that an axis error has occurred 8 o_uModuleErrId Axis error code Word Unsigned 0 The error code of the error that has occurred in the module of the specified axis is stored 9 o_b...

Страница 33: ...g on i_bEN Execution command errors of the target axis are monitored When a module error occurs an error code is stored in o_uModuleErrId Axis error code After i_bEN Execution command is turned ON the generated error is reset by turning on i_bErrReset Error reset command When a warning occurs in the module the warning can be reset by turning on i_bErrReset Error reset command If the setting value ...

Страница 34: ... Axis warning detection signal Md 31 Status b9 o_bModuleWarn o_bOK o_bErr o_uErrId i_bErrReset i_bEN o_bENO Cd 5 Axis error reset Error detection signal Md 31 Status b13 o_bModuleErr o_uModuleErrId Error code 0 0 0 0 0 o_uModuleWarnId o_bModuleWarn o_bOK o_bErr o_uErrId i_bErrReset i_bEN o_bENO Error detection signal Md 31 Status b13 o_bModuleErr o_uModuleErrId Cd 5 Axis error reset Axis warning d...

Страница 35: ...ed twice or more precaution must be taken to avoid duplication of the target axis Do not change i_uAxis Target axis while i_bEN Execution command is ON Every input must be provided with a value for proper FB operation The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before operating the positioning module Set the GX Works3 m...

Страница 36: ... Structure The setting range differs depending on the module label Specifies the module label for the positioning module No Variable name Name Data type Default value Description 3 o_bENO Execution status Bit OFF ON The execution command is ON OFF The execution command is OFF 4 o_bOK Normal completion Bit OFF When this label is ON it indicates that parameter initialization has been completed 5 o_b...

Страница 37: ... accordance with the required system operation This FB cannot be used in an interrupt program Do not use this FB in programs that are executed only once such as a subroutine program or FOR NEXT loop because i_bEN Execution command cannot be turned off and the normal operation cannot be acquired Always use this FB in programs that can turn off i_bEN Execution command Every input must be provided wi...

Страница 38: ... Module label Structure The setting range differs depending on the module label Specifies the module label for the positioning module No Variable name Name Data type Default value Description 3 o_bENO Execution status Bit OFF ON The execution command is ON OFF The execution command is OFF 4 o_bOK Normal completion Bit OFF When this label is ON it indicates that writing the setting data to the flas...

Страница 39: ...very processing separately in accordance with the required system operation This FB cannot be used in an interrupt program Do not use this FB in programs that are executed only once such as a subroutine program or FOR NEXT loop because i_bEN Execution command cannot be turned off and the normal operation cannot be acquired Always use this FB in programs that can turn off i_bEN Execution command Ev...

Страница 40: ...S transmission data ready Bit ON OFF The ready signal from the servo amplifier No Variable name Name Data type Default value Description 7 o_bENO Execution status Bit OFF ON The execution command is ON OFF The execution command is OFF 8 o_bOK Normal completion Bit OFF When this label is ON it indicates that the absolute position restoration request has been completed 9 o_bServoOn Servo ON signal B...

Страница 41: ...depending on the CPU module used the input output definition and the setting options of GX Works3 For the setting options of GX Works3 refer to GX Works3 Operating Manual Processing By turning on i_bEN Execution command the absolute position is restored When the absolute position restoration is completed with an error o_bAbsNG ABS error turns on and an error code is stored in o_uAbsErrId ABS error...

Страница 42: ...rror Item Description 0 Executed Unexecuted Unexecuted 0 o_bAbsNG Absolute position restoration instruction o_bOK o_uAbsErrId o_bErr o_uErrId i_bEN o_bENO Error code 0 0 Unexecuted 0 o_bAbsNG Absolute position restoration instruction o_bOK o_uAbsErrId o_bErr o_uErrId i_bEN o_bENO Executed Unexecuted Unexecuted 0 0 Error code o_bAbsNG Absolute position restoration instruction o_bOK o_uAbsErrId o_bE...

Страница 43: ...n after the absolute position restoration has been completed Do not turn off i_bEN Execution command during the absolute position restoration If i_bEN Execution command is turned off before the absolute position restoration is completed an error occurs when i_bEN Execution command is turned on and the error 1861 Dedicated instruction error is stored in o_uAbsErrId ABS error code When the error 186...

Страница 44: ...wing axis The setting range varies according to the positioning module in use 5 i_uStartBlock Start block Word Unsigned 0 to 4 Specify the start block 0 Start block 0 1 Start block 1 2 Start block 2 3 Start block 3 4 Start block 4 6 i_uPoint Point Word Unsigned 1 to 50 Specify the point number 7 i_bShape Da 11 Shape Bit ON OFF Set the shape OFF End ON Continuous 8 i_uStartDataNo Da 12 Start data N...

Страница 45: ...bel will not turn ON 13 o_bErr Error completion Bit OFF When this label is ON it indicates that an error has occurred in the FB 14 o_uErrId Error code Word Unsigned 0 Stores the error code that occurred in the FB Item Description Available device Target module FX5 20PG P Target CPU FX5U CPU FX5UC CPU Engineering tool GX Works3 Version 1 035M or later Language Ladder diagram Number of basic steps 6...

Страница 46: ...rror code If the set value of the start block is out of the range o_bErr Error completion turns ON and processing of this FB is interrupted In addition error code 106 hexadecimal is stored in o_uErrId Error code For details on the error code refer to the Page 46 Error code If the set value of the point is out of the range o_bErr Error completion turns ON and processing of this FB is interrupted In...

Страница 47: ...ositioning start point number o_bOK o_bErr o_uErrId Da 18 Parameter 1 Da 15 Condition target Da 14 Parameter Da 13 Special start instruction Da 16 Condition operator Da 17 Address Da 11 Shape o_bENO i_bEN Da 12 Start data No Present value Present value Present value Error code 0 0 Present value Present value Present value Present value Present value Present value Present value Cd 184 Positioning s...

Страница 48: ...itioning module Set the GX Works3 module parameters according to the application Refer to the MELSEC iQ F FX5 User s Manual Positioning Control Intelligent function module for details on setting the module parameters Error code hexadecimal Description Action 103 The i_uPrecedingAxis Preceding axis setting value is out of the setting range The preceding axis is not set between 1 and 4 Try again aft...

Страница 49: ...ries according to the positioning module in use 5 i_uPrecedingAxisDat aNo Preceding axis data No Word Unsigned 1 to 600 Set the positioning data No for the preceding axis 6 i_uFollowingAxisDat aNo Following axis data No Word Unsigned 1 to 600 Set the positioning data No for the following axis 7 i_uOffsetTime Offset time Word Unsigned 0 to 65535 Set the start timing offset time No Variable name Nam...

Страница 50: ...e o_bErr Error completion turns ON and processing of this FB is interrupted In addition error code 104 hexadecimal is stored in o_uErrId Error code For details on the error code refer to the Page 51 Error code If the same axis number is set for the preceding axis and following axis o_bErr Error completion turns ON and processing of this FB is interrupted In addition error code 105 hexadecimal is s...

Страница 51: ...lue Present value Da 9 Dwell time Da 10 M code Da 7 Arc address Da 8 Command speed Cd 30 Simultaneous start target axis start data No Axis 1 start data No Cd 31 Simultaneous start target axis start data No Axis 2 start data No Cd 32 Simultaneous start target axis start data No Axis 3 start data No Cd 33 Simultaneous start target axis start data No Axis 4 start data No Da 27 M code ON signal output...

Страница 52: ...ommand speed Da 27 M code ON signal output timing Da 28 ABS direction in degrees Da 29 Interpolation speed specification method o_bOK o_bErr o_uErrId Da 6 Positioning address movement amount Da 2 Control method Da 3 Acceleration time Da 4 Deceleration time Da 5 Axis to be interpolated o_bENO i_bEN Da 1 Operation pattern Cd 30 Simultaneous start target axis start data No Axis 1 start data No Cd 31 ...

Страница 53: ...g axis and following axis do not start at a simultaneous timing Instead the following axis starts with a delay Every input must be provided with a value for proper FB operation The pulse output mode and external input output signal logic etc must be set according to the connected devices and system before operating the positioning module Set the GX Works3 module parameters according to the applica...

Страница 54: ... M FX5PG_ChangeSpeed 18 M FX5PG_InitializeParameter 34 M FX5PG_JOG 12 M FX5PG_MPG 16 M FX5PG_OperateError 30 M FX5PG_Restart 28 M FX5PG_SetPositioningData 4 M FX5PG_SetTimeOffsetPositioning 47 M FX5PG_StartAddressOffsetPositioning 42 M FX5PG_StartPositioning 9 M FX5PG_WriteFlash 36 ...

Страница 55: ...I 53 MEMO ...

Страница 56: ...tion This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual ...

Страница 57: ......

Страница 58: ...A KU TOKYO 100 8310 JAPAN Specifications are subject to change without notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Manual number JY997D75101A ...

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