Mitsubishi Electric MELSEC iQ-F Manual de usuario

MELSEC iQ-F

FX5 Positioning Module Function Block Reference

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

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

DUT

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

■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

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,

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

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

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