Axis Variable Initialization Timing; How To Specify In A User Program - Mitsubishi Electric MELSEC iQ-R Series User Manual

Data type
The following data types are assigned based on the axis type. For the detail of data type, refer to the relevant variables of
each axis type.
Axis type
Real drive axis
Virtual drive axis
Virtual linked axis
Each data type has the following members respectively.
Member name
AxisRef
PrConst
Pr
Md
Cd

Axis variable initialization timing

Axis variables are initialized at the following timing.
Timing
Power ON/CPU module reset
PLC READY [Y0] OFFON
In case of a real axis, the device network connection is required to operate an axis after the axis variable is initialized. If the
device of the station address has been connected, it must be disconnected and reconnected. (The axes can be emulated
without network connection. (Page 370 Slave Emulate))

How to specify in a user program

When "AXIS_REF" is described in the input/output setting of the motion control FB, the axis can be specified by setting
AxisRef (AxisName.AxisRef) which is the AXIS_REF type member of each axis variable.
Ex.
When executing the MC_Power with the following conditions:
axis type: real drive axis, axis No.: 1, axis name: Axis0001
[Axis0001.AxisRef]
Power ON
1 AXIS SETTING
34
1.1 Axis
Data type
AXIS_REAL
AXIS_VIRTUAL
AXIS_VIRTUAL_LINK
Data type Description
AXIS_REF The data structure for input/output of the motion control FBs.
The type is fixed regardless of the axis type.
Differs by the axis type. Stores the axis parameter data (constant).
Opens the setting value at the axis variable initialization.
Reload to the control is not executed after the axis variable initialization.
Stores the axis parameter data.
Opens the default value at the axis variable initialization.
The fetch timing to the control changes depending on the parameter.
Stores the axis monitor data.
Executes the refresh in the fixed cycle for each monitor data.
Stores the axis control command data.
Acquires the latest value every control operation cycle and uses it for the control.
Processing
Refers to the label default value file, and initializes all set axis variables.
Refers to the label default value file, and reloads uninitialized axes.
Initialized axes are not reloaded or deleted.
MC_Power
DUT : Axis
B : Enable
B : ServoON
Axis : DUT [Axis0001.AxisRef]
Status : B
[Axis1Status]
ReadyStatus : B
[Axis1ReadyStatus]
Busy : B
[Axis1Busy]
Error : B [Axis1Error]
ErrorID : UW [Axis1ErrorID]