MELSOFT Library

PLCopen Motion Control FB library

This FB Library is for the simple motion module RD77GF and the sarvo amplifer MR-J4-GF.

Applicable model	RD77GF, MR-J4-GF

File name	Size	Last update	Version
MotionControlFB_RD77GF_5f.zip	8,394,155 bytes	Sep. 8, 2020	05F

Relevant manual	Type	Language
BCN-B62005-757-G	PLCopen Motion Control Function Block Reference	English

MotionControl_RD77

This library is used with the Simple Motion module RD77GF or RD77MS. Up to 16 or 32 slave stations can be controlled.

FB name	Function name	Description	Ver.
MC_Power+RD77	Operation possible	Switches the status of the servo amplifier of the specified axis to Operable.	04E
MCv_Home+RD77	Home position return	Executes the home position return of the specified axis.	03D
MC_Stop+RD77	Forced stop	Stops the specified axis.	03D
MC_MoveAbsolute+RD77	Absolute value positioning	Specifies the commanded absolute position of the specified axis and executes positioning.	03D
MC_MoveRelative+RD77	Relative value positioning	Moves an axis for the specified distance from the current position.	03D
MC_MoveAdditive+RD77	Commanded position change	Adds a specified relative position in the previous positioning command of the specified axis and executes positioning.	03D
MC_MoveVelocity+RD77	Velocity control	Controls the velocity of the specified axis to the commanded velocity.	03D
MC_TorqueControl+RD77	Torque control	Controls the specified axis with the specified torque.	03D
MC_SetPosition+RD77	Current position change	Changes the current position (commanded position, feedback position) of the specified axis.	03D
MC_SetOverride+RD77	Override value setting	Changes the commanded velocity of the specified axis.	02C
MC_ReadParameter+RD77	Parameter read	Reads a parameter value of the specified axis in real type.	03D
MC_WriteParameter+RD77	Parameter write	Changes the real-type parameter value of the specified axis.	03D
MC_ReadActualPosition+RD77	Current position read	Reads the current position of the specified axis.	02C
MC_ReadActualVelocity+RD77	Current velocity read	Returns the axis feedrate of the specified axis.	02C
MC_ReadActualTorque+RD77	Current torque read	Reads the torque actual value of the specified axis.	02C
MC_ReadStatus+RD77	Status read	Returns the detailed status of the status diagram of the specified axis.	02C
MC_ReadAxisInfo+RD77	Axis information read	Reads the axis information of the specified axis.	04E
MC_ReadAxisError+RD77	Axis error read	Reads the error number and warning number of the specified axis.	02C
MC_Reset+RD77	Axis error reset	Clears the error and warning of the specified axis.	02C
MC_ReadDigitalInput+DI16	Digital input read	Reads the specified input number status of the input signal.	01B
MC_ReadDigitalOutput+DO16	Digital output read	Reads the status of the specified output number of the output signal.	01B
MC_WriteDigitalOutput+DO16	Digital output write	Changes the value of the specified output number of the output signal.	01B
MCv_ReadServoParameter+RD77GF	Servo parameter read	Reads the parameter value of the servo parameter number of the specified axis.	03D
MCv_WriteServoParameter+RD77GF	Servo parameter write	Changes the parameter value of the servo parameter number of the specified axis.	04E
MCv_Jog+RD77	JOG operation	Performs the JOG operation of the specified axis.	00A
MCv_Inch+RD77	Inching operation	Performs the inching operation of the specified axis.	00A

MotionControl_J4GFIO

This library is used in a system in which the MELSEC iQ-R series CC-Link IE Field Network master module and MR-J4-GF servo amplifiers are connected. Up to 120 stations can be controlled.

FB name	Function name	Description	Ver.
MC_Power+J4GFIO	Operation possible	Switches the status of the servo amplifier of the specified axis to Operable.	02C
MCv_Home+J4GFIO	Home position return	Executes the home position return of the specified axis.	02C
MC_Stop+J4GFIO	Forced stop	Stops the specified axis.	02C
MC_MoveAbsolute+J4GFIO	Absolute value positioning	Specifies the commanded absolute position of the specified axis and executes positioning.	02C
MC_MoveRelative+J4GFIO	Relative value positioning	Moves an axis for the specified distance from the current position.	02C
MC_ReadActualPosition+J4GFIO	Current position read	Reads the current position of the specified axis.	02C
MC_ReadStatus+J4GFIO	Status read	Returns the detailed status of the status diagram of the specified axis.	02C
MC_ReadAxisInfo+J4GFIO	Axis information read	Reads the axis information of the specified axis.	02C
MC_ReadAxisError+J4GFIO	Axis error read	Reads the error number of the specified axis.	02C
MC_Reset+J4GFIO	Axis error reset	Clears the error of the specified axis.	02C
MCv_ReadServoParameter+J4GFIO	Servo parameter read	Reads the parameter value of the servo parameter number of the specified axis.	02C
MCv_WriteServoParameter+J4GFIO	Servo parameter write	Changes the parameter value of the servo parameter number of the specified axis.	02C

[Library registration procedure]

For the library registration procedure, refer to the "PLCopen Motion Control Function Block Reference".