Mitsubishi Electric MELSEC iQ-F User manual

MELSEC iQ-F
FX5 Positioning Module Function Block Reference

1
CONTENTS
CONTENTS
CHAPTER 1 FUNCTION BLOCK (FB) LIST 2
CHAPTER 2 POSITIONING MODULE FB 4
2.1 M+FX5PG_SetPositioningData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 M+FX5PG_StartPositioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 M+FX5PG_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

21 FUNCTION BLOCK (FB) LIST
1FUNCTION BLOCK (FB) LIST
This chapter lists the FBs for the MELSEC iQ-F series positioning module.
*1 Note that this reference does not describe the FB version information which is displayed such as "_00A" at the end of FB name.
Name*1 Description
M+FX5PG_SetPositioningData Sets positioning data (Da.1 to Da.10, Da.27 to Da.29).
M+FX5PG_StartPositioning Starts the positioning operation.
M+FX5PG_JOG Performs the JOG operation or inching operation.
M+FX5PG_MPG Performs the manual pulse generator operation.
M+FX5PG_ChangeSpeed 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 the buffer memory to the flash ROM.
M+FX5PG_ABRST Restores the absolute position.
M+FX5PG_StartAddressOffsetPositioning The following axis starts after the preceding axis has started and moved the set movement amount.
M+FX5PG_SetTimeOffsetPositioning The following axis starts after the set time has elapsed from the start of the preceding axis.

1 FUNCTION BLOCK (FB) LIST
3
1
MEMO

42 POSITIONING MODULE FB
2.1 M+FX5PG_SetPositioningData
2POSITIONING MODULE FB
2.1 M+FX5PG_SetPositioningData
Name
M+FX5PG_SetPositioningData
Overview
Labels
■Input label
■Output label
Item Description
Overview Sets positioning data (Da.1 to Da.10, Da.27 to Da.29).
Symbol
No. Variable name Name Data type Range Description
(1) i_bEN Execution command Bit ON, OFF ON: The FB is activated.
OFF: The FB is not activated.
(2) i_stModule Module label Structure The setting range
differs depending on
the module label.
Specifies the module label for the positioning module.
(3) i_uAxis Target axis Word [Unsigned] 1 to 4 Specify the axis number.
The setting range varies according to the positioning
module in use.
(4) i_uDataNo 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 this label is ON, it indicates that an error has
occurred in the FB.
(8) o_uErrId Error code Word [Unsigned] 0 Stores the error code that occurred in the FB.
(8)
(7)
(6)
M+FX5PG_SetPositioningData
(5)
(3)
(2)
(1)
o_uErrId
o_bErr
o_bOK
o_bENO
UW
B
B
B
UW
DUT
B
:
:
:
:
:
:
:
i_uAxis
(4) UW : i_uDataNo
(9) pb_uOpePattern
(10) pb_uCtrlSys
(12) pb_uDecTimeNo
(14) pb_uMcode
(11) pb_uAccTimeNo
(13) pb_uInterpolatedAx
(15) pb_uDwellTime
(17) pb_uABS
(19) pb_udCmdSpd
(16) pb_uMcodeOnTiming
(18) pb_uInterpolateSpd
(21) pb_dArcAdr
(20) pb_dPositAdr
i_stModule
i_bEN

2 POSITIONING MODULE FB
2.1 M+FX5PG_SetPositioningData 5
2
■Public label
No. Variable name Name Data type Range Description
(9) pb_uOpePattern Da.1: Operation pattern Word [Unsigned] 0 to 1, 3 Specify whether the positioning is completed with the
data being executed, or continues with the following
data.
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: Positioning complete
1: Continuous positioning control
3: Continuous path control
(10) pb_uCtrlSys Da.2: Control method Word [Unsigned] 01H to 14H,
80H to 84H
Set the control method for performing the positioning
control.
01H: ABS1 1-axis linear control (ABS)
02H: INC1 1-axis linear control (INC)
03H: FEED1 1-axis fixed-feed control
04H: VF1 1-axis speed control (forward run)
05H: VR1 1-axis speed control (reverse run)
06H: VPF Speed-position switching control (forward
run)
07H: VPR Speed-position switching control (reverse
run)
08H: PVF Position-speed switching control (forward
run)
09H: PVR Position-speed switching control (reverse
run)
0AH: ABS2 2-axis linear interpolation control (ABS)
0BH: INC2 2-axis linear interpolation control (INC)
0CH: FEED2 Fixed-feed control by 2-axis linear
interpolation
0DH: ABS; Circular 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
point specified (INC, CCW)
13H: VF2 2-axis speed control (forward run)
14H: VR2 2-axis speed control (reverse run)
80H: NOP NOP instruction
81H: POS Current value change
82H: JUMP JUMP instruction
83H: LOOP Beginning of LOOP-to-LEND processing
84H: LEND End of LOOP-to-LEND processing
(11) pb_uAccTimeNo Da.3: Acceleration time
No.
Word [Unsigned] 0 to 3 Set which of Acceleration time 0 to 3 to use for the
acceleration time during positioning.
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: Acceleration time 0
1: Acceleration time 1
2: Acceleration time 2
3: Acceleration time 3
(12) pb_uDecTimeNo Da.4: Deceleration time
No.
Word [Unsigned] 0 to 3 Set which of Deceleration time 0 to 3 to use for the
deceleration time during positioning.
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: Deceleration time 0
1: Deceleration time 1
2: Deceleration time 2
3: Deceleration time 3

62 POSITIONING MODULE FB
2.1 M+FX5PG_SetPositioningData
(13) pb_uInterpolatedAx Da.5: Axis to be
interpolated
Word [Unsigned] 0 to 1 Set the axis to be interpolated for performing the 2-axis
interpolation operation.
Values out of the setting range or the self-axis cannot
be set as the axis to be interpolated.
Set 0 when not using interpolation.
0: Axis 1 specification
1: Axis 2 specification
(14) pb_uMcode Da.10: M code Word [Unsigned] 0 to 10,
1 to 65535,
0 to 65535
Set the condition data No., number of repetitions, or M
code for the control method.
• Da.2: Control method 82H: JUMP instruction
0 to10
• Da.2: Control method 83H: LOOP
1 to 65535
• Da.2: Control method Other than above
0 to 65535
(15) pb_uDwellTime Da.9: Dwell time Word [Unsigned] 1 to 600,
0 to 65535
Set the positioning data No. or dwell time for the control
method.
• Da.2: Control method 82H: JUMP instruction
1 to 600
• Da.2: Control method Other than JUMP instruction
0 to 65535
(16) pb_uMcodeOnTiming Da.27: M code On
signal output timing
Word [Unsigned] 0 to 2 Set the timing of outputting the M code On signal.
When 4 or higher is set, b0 and 1 are enabled.
For example, when 4 is set, 0 is applied.
0: Setting value of Pr.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 counterclockwise
3: Shortcut (the direction setting is invalid)
(18) pb_uInterpolateSpd Da.29: Interpolation
speed specification
method
Word [Unsigned] 0 to 2 When performing linear interpolation/circular
interpolation, set whether to specify the composite
speed or the speed for the reference axis.
When 8 or higher is set, only b0, b1, and b2 are valid.
For example, when 8 is set, 0 is applied.
0: Setting value of Pr.20: Interpolation speed
specification method
1: Composite speed
2: Reference axis speed
(19) pb_udCmdSpd Da.8: Command speed Double word
[Unsigned]
1 to
2000000000,
1 to
3000000000,
1 to 5000000
Set the command speed for positioning.
• Pr.1: Unit setting 0, 1
1 to 2000000000
• Pr.1: Unit setting 2
1 to 3000000000
• Pr.1: Unit setting 3
1 to 5000000
FFFFFFFFH The speed set for the previous positioning data No. is
used for the positioning control.
• Current speed
FFFFFFFFH (Speed set for the previous positioning
data No.)
No. Variable name Name Data type Range Description

2 POSITIONING MODULE FB
2.1 M+FX5PG_SetPositioningData 7
2
FB details
(20) pb_dPositAdr Da.6: Positioning
address
Double word
[Signed]
-2147483648
to 2147483647,
0 to 35999999,
0 to
2147483647
Specify the target position or movement amount for the
positioning control.
The setting value differs depending on the control
method.
• Pr.1: Unit setting 0, 1, 3
• Da.2: Control method 06H to 09H
0 to 2147483647
• Da.2: Control method Other than 06H to 09H
-2147483648 to 2147483647
• Pr.1: Unit setting 2
• Da.2: Control method 01H, 0AH, 81H
0 to 35999999
• Da.2: Control method 02H, 0BH, 03H, 0CH
-2147483648 to 2147483647
• Da.2: Control method 06H, 07H
0 to 2147483647 (INC mode)
0 to 35999999 (ABS mode)
• Da.2: Control method 08H, 09H
0 to 2147483647
(21) pb_dArcAdr Da.7: Arc address Double word
[Signed]
-2147483648
to 2147483647,
0
Use this label only when performing the circular
interpolation control.
For the sub point specification, set the sub point
address.
For the center point specification, set the center point
address of the arc.
• Pr.1: Unit setting 0, 1, 3
-2147483648 to 2147483647
• Pr.1: Unit 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 options of GX Works3, refer to GX Works3 Operating Manual.
Processing • By turning on i_bEN (Execution command), the set positioning data is written to the buffer memory.
• 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 8 Error code.
• If the setting value of the positioning data No. 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 101 (hexadecimal) is stored in o_uErrId (Error code). For the
error code, refer toPage 8 Error code.
FB compilation method Macro type
FB operation Pulsed execution (single scan execution type)
No. Variable name Name Data type Range Description

82 POSITIONING MODULE FB
2.1 M+FX5PG_SetPositioningData
Error code
Timing chart of I/O signals [For normal completion]
[For error completion]
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).
• 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 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.
101 The set value of i_uDataNo (Positioning data No.) is out of the
range.
The positioning data No. is not within the range of 1 to 600.
Try again after checking the setting.
Item Description
i_bEN
o_bENO
o_bOK
o_bErr
o_uErrId
0
Write UnexecutedUnexecutedPositioning data setting write
processing
o_bENO
o_bOK
o_bErr
o_uErrId
i_bEN
0 Error code 0
Unexecuted
Positioning data setting write
processing