Mitsubishi Electric MELSEC iQ-R Series User Manual page 188

■Options (Options)
Set the function options that are used in MC_MoveRelative by specifying the bit.
The details of bit and the functions are shown below.
Bit
0 to 2
3
4
5
6 to 31
*1 If specifying "1", the error "Out of Options Range" (error code: 1A4EH) will occur, and the axis will not start.
■Done (Execution completion)
It turns TRUE when reaching the target position.
■Busy (Executing)
It is TRUE during the instruction execution. It turns FALSE after reaching the target position.
■Active (Controlling)
It is TRUE while the axis is controlled. It turns FALSE after reaching the target position.
■CommandAborted (Abortion of execution)
It turns TRUE when another instruction is started during the execution of this FB.
■Error (Error)
It turns TRUE when an error is occurring in this FB.
■Error code (ErrorID)
The error code generated in this FB is returned.
Necessary slave object
When using MC_MoveRelative, set the following slave object to the axis.
• Target position
If the above slave object is not set, the error "Necessary Slave Object Unset" (error code: 1AA8H) will occur, and the FB will
not start.
For details of the slave object setting, refer to the following.
Page 41 Axis Assignment
Precautions
• Even though a FB is restarted or continuously updated, the current position where this FB was started for the first time is
the starting address.
• Since it is processed with the floating point type, if the relative value positioning control is repeatedly executed, the
movement amount specified may not be reached due to the calculation error.
6 AXIS CONTROL FUNCTION
186
6.1 Single Axis Positioning Control
Function description
Acceleration/deceleration method setting
0: mcAccDec (Acceleration/deceleration specification method)
1: mcFixedTime (Acceleration/deceleration time-fixed method)
For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
Position selection during buffer mode
0: Set position
1: Actual current value
For details, refer to the following.
Page 107 Multiple Start (Buffer Mode)
*1
Empty (Specify "0".)
Reverse rotation permission selection
0: Allow
1: Not allow
It is valid when specifying Aborting of buffer mode or changing target position. For details, refer to the following.
Page 107 Multiple Start (Buffer Mode)Page 351 Target position change
*1
Empty (Specify "0".)