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

2 POSITIONING MODULE FB
2.2 M+FX5PG_StartPositioning 9
2
2.2 M+FX5PG_StartPositioning
Name
M+FX5PG_StartPositioning
Overview
Labels
■Input label
■Output label
Item Description
Overview Starts the positioning operation.
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_uStartNo Cd.3: Positioning
start No.
Word [Unsigned] 1 to 600,
7000 to 7004,
9001 to 9004
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 execution command is OFF.
(6) o_bOK Normal completion Bit OFF When this label is ON, it indicates that the positioning
operation has been completed.
However, this label does not turn on when a module
error occurs at the start.
(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_StartPositioning
(5)
(3)
(2)
(1)
o_uErrId
o_bErr
o_bOK
o_bENO
UW
B
B
B
UW
DUT
B
:
:
:
:
:
:
:
i_uAxis
(4) UW : i_uStartNo
i_stModule
i_bEN

10 2 POSITIONING MODULE FB
2.2 M+FX5PG_StartPositioning
FB details
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 263 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 control corresponding to i_uStartNo (Cd.3: Positioning start No.) is started.
• This FB is activated by turning on Positioning start signal (Cd.184: Positioning start signal).
• Only when the following conditions are satisfied, Positioning start signal (Cd.184: Positioning start signal) is turned on by
turning on i_bEN (Execution command). If any of the conditions is not satisfied, o_bErr (Error completion) turns on and the
processing of this FB is interrupted. In addition, the error code 200 (hexadecimal) is stored in o_uErrId (Error code). For the
error code, refer to Page 11 Error code. (The conditions are Positioning module 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 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 11 Error code.
• If the setting value of the positioning start 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 102 (hexadecimal) is stored in o_uErrId (Error code). For the
error code, refer to Page 11 Error code.
FB compilation method Macro type
FB operation Pulsed execution (multiple scan execution type)
Timing chart of I/O signals [For normal completion]
[For error completion]
0
Start No.0
Cd.3: Positioning start No.
Cd.184: Positioning start signal
Start complete signal
(Md.31: Status.b14)
i_bEN
o_bENO
o_bOK
o_bErr
o_uErrId
0
0 Error code 0
Cd.3: Positioning start No.
Cd.184: Positioning start signal
Start complete signal
(Md.31: Status.b14)
o_bENO
o_bOK
o_bErr
o_uErrId
i_bEN

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

12 2 POSITIONING MODULE FB
2.3 M+FX5PG_JOG
2.3 M+FX5PG_JOG
Name
M+FX5PG_JOG
Overview
Labels
■Input label
■Output label
Item Description
Overview Performs the JOG operation or inching operation.
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_bFJog Forward run JOG
command
Bit ON, OFF Turn on this label to perform the forward run JOG
operation or forward inching operation.
(5) i_bRJog Reverse run JOG
command
Bit ON, OFF Turn on this label to perform the reverse run JOG
operation or reverse inching operation.
(6) i_udJogSpd 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
Word [Unsigned] 0 to 65535
0: JOG operation
Specify the inching movement amount.
Set 0 for the JOG operation.
No. Variable name Name Data type Default value Description
(8) o_bENO Execution status Bit OFF ON: The execution command is ON.
OFF: The execution command is OFF.
(9) o_bOK Normal completion Bit OFF ON: The JOG command is ON.
OFF The JOG command is OFF.
(10) o_bErr Error completion Bit OFF When this label is ON, it indicates that an error has
occurred in the FB.
(11) o_uErrId Error code Word [Unsigned] 0 Stores the error code that occurred in the FB.
(11)
(10)
(9)
M+FX5PG_JOG
(8)
(3)
(2)
(1)
o_uErrId
o_bErr
o_bOK
o_bENO
UW
B
B
B
UW
DUT
B
:
:
:
:
:
:
:
i_uAxis
(4) B : i_bFJog
i_stModule
i_bEN
(6)
(5)
UD
B
:
:
i_udJogSpd
(7) UW : i_uInching
i_bRJog

2 POSITIONING MODULE FB
2.3 M+FX5PG_JOG 13
2
FB details
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 238 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_bFJog (Forward run JOG command) or i_bRJog (Reverse run JOG command) after i_bEN (Execution
command) is turned on, the JOG operation or inching operation is performed.
• When i_bFJog (Forward run JOG command) 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 run JOG command) is turned on and off, the forward JOG operation restarts. (This
relation is also applied to the reverse run JOG operation and i_bFJog (Forward run JOG command).)
• 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 15 Error code.
FB compilation method Macro type
FB operation Always executed

14 2 POSITIONING MODULE FB
2.3 M+FX5PG_JOG
Timing chart of I/O signals [For normal completion (Axis 1)]
• Forward run JOG operation (Inching movement amount 0)
• Forward run inching operation (Inching movement amount other than 0)
[For error completion (Axis 1)]
Item Description
0
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_bOK
o_bErr
o_uErrId
i_bEN
BUSY signal (Md.141: BUSY.b0)
0 Error code 0

2 POSITIONING MODULE FB
2.3 M+FX5PG_JOG 15
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 Forward run JOG start signal (Cd.181: Forward run JOG start signal) and Reverse run JOG start
signal (Cd.182: Reverse run JOG start signal) Thus, do not turn on or off Forward run JOG start signal (Cd.181: Forward run
JOG start signal) and Reverse run JOG start signal (Cd.182: Reverse run JOG 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.
• 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.
• 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.
Turn off the forward run JOG command or reverse run JOG
command, turn on i_bEN from off, and turn on the forward run
JOG command or reverse run JOG command again.
Item Description

16 2 POSITIONING MODULE FB
2.4 M+FX5PG_MPG
2.4 M+FX5PG_MPG
Name
M+FX5PG_MPG
Overview
Labels
■Input label
■Output label
FB details
Item Description
Overview Performs the manual pulse generator operation.
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_udMPGInMag Cd.20: Manual pulse
generator 1 pulse
input magnification
Double Word
[Unsigned]
1 to 10000 Set the input magnification of the manual pulse
generator 1 pulse.
• When the set value is 0, the magnification is 1.
• When the set value 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 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.
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 160 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.
(8)
(7)
(6)
M+FX5PG_MPG
(5)
(3)
(2)
(1)
o_uErrId
o_bErr
o_bOK
o_bENO
UW
B
B
B
UW
DUT
B
:
:
:
:
:
:
:
i_uAxis
(4) UD : i_udMPGInMag
i_stModule
i_bEN

2 POSITIONING MODULE FB
2.4 M+FX5PG_MPG 17
2
Error code
Processing • By turning ON or OFF i_bEN (Execution command), the manual pulse generator operation is enabled or disabled.
• This FB is constantly executed after i_bEN (Execution command) is turned on.
• The workpiece moves for the number of pulses input from the manual pulse generator while o_bOK (Normal completion) is
ON.
• 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 17 Error code.
FB compilation method Macro type
FB operation Always executed
Timing chart of I/O signals [For normal completion (Axis 1)]
[For error completion (Axis 1)]
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).
• 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 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.
Item Description
0
100
Cd.21: Manual pulse generator
enable flag
BUSY signal (Md.141: BUSY.b0)
i_bEN
o_bENO
o_bOK
o_bErr
o_uErrId
o_bErr
Cd.21: Manual pulse generator
enable flag
BUSY signal (Md.141: BUSY.b0)
i_bEN
o_bENO
o_bOK
o_uErrId
Error code00
0

18 2 POSITIONING MODULE FB
2.5 M+FX5PG_ChangeSpeed
2.5 M+FX5PG_ChangeSpeed
Name
M+FX5PG_ChangeSpeed
Overview
Labels
■Input label
■Output label
Item Description
Overview Changes the speed.
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_udSpdChgVal Cd.14: New speed
value
Double Word
[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 is ON.
OFF: The execution command is OFF.
(6) o_bOK Normal completion Bit OFF When this label is ON, it indicates that the speed
change 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_ChangeSpeed
(5)
(3)
(2)
(1)
o_uErrId
o_bErr
o_bOK
o_bENO
UW
B
B
B
UW
DUT
B
:
:
:
:
:
:
:
i_uAxis
(4) UD : i_udSpdChgVal
i_stModule
i_bEN