Mitsubishi Electric MELSEC-Q-MR-JE-C, Справочное руководство

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3 FB LIBRARY
3.1 Function Overview of the FB Library
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FB LIBRARY
3.1
Function Overview of the FB Library
List of FBs
The following table lists the FBs used in the MELSEC-Q series QnUDVCPU module.
This library controls up to 16 stations of the servo amplifier MR-JE-C.
The MR-JE-C uses the default mapping of the cyclic communication in the profile mode.
For details, refer to the instruction manual of the servo amplifier in use.
MotionControl_JEC
Restrictions and precautions
Item Description Version
MC_Power_JEC Operation possible 00A
MCv_Home_JEC Home position return 00A
MC_Stop_JEC Forced stop 00A
MC_Halt_JEC Stop 00A
MC_MoveAbsolute_JEC Absolute value positioning 00A
MC_MoveRelative_JEC Relative value positioning 00A
MC_MoveAdditive_JEC Commanded position change 00A
MC_MoveVelocity_JEC Velocity control 00A
MC_TorqueControl_JEC Torque control 00A
MC_ReadActualPosition_JEC Current position read 00A
MC_ReadActualVelocity_JEC Current velocity read 00A
MC_ReadActualTorque_JEC Current torque read 00A
MC_ReadStatus_JEC Status read 00A
MC_ReadAxisInfo_JEC Axis information read 00A
MC_ReadAxisError_JEC Axis error read 00A
MC_Reset_JEC Axis error reset 00A
Item Description
Restrictions and
precautions
The following describes restrictions and precautions common to all FBs.
The restrictions and precautions specific to each FB are separately described. Refer to

Page 23 Details of the FB Library.
• The FB does not include error recovery processing. Program the error recovery processing separately in accordance with the
required system operation.
• The FB does not detect an alarm or a warning that has occurred in the servo amplifier. Program the processing to monitor alarms
and warnings in the servo amplifiers. For the alarms and warnings that have occurred in the servo amplifiers, refer to the
instruction manual of the servo amplifiers in use.
• The FB cannot be used in an interrupt program.
• Please ensure that an execution command (Execute or Enable) can be turned OFF with a program. Do not use this FB in
programs that are only executed once, such as a subroutine program and FOR-NEXT loop because an execution command
(Execute or Enable) cannot be turned OFF in these programs.
• The number of FB steps in a program varies depending on the CPU model to be used and I/O definitions.
• A duplicated coil warning may occur during compilation. However, the warning does not generate any problems.
• Set a circuit for each input label in an FB.
• When two or more FBs are used, be careful not to repeatedly specify and simultaneously start an axis.
• When an execution command (Execute or Enable) is turned ON, the FB reads data of the input label. Thus, set the input label
before turning ON an execution command (Execute or Enable).
• Do not change the values of other input labels after turning ON an execution command (Execute or Enable). For some FBs such
as the one whose operation type is real-time execution, however, input labels can be changed even after an execution command
(Execute or Enable) is turned ON. For details, refer to

Page 23 Details of the FB Library.
• The FBs controls 16 slave stations. Set a station number of the servo amplifier within the setting range.
• The FBs control the servo amplifier MR-JE-C in the profile mode of the control mode. Set the parameter (PA01) of the servo
amplifier to the profile mode. Use the default mapping for the cyclic communication.