MELSOFT Library
MELSEC iQ-R motion module FB library
This FB library is used in the system using the motion module of the MELSEC iQ-R series.
| Applicable model | RD78G4, RD78G8, RD78G16, RD78G32, RD78G64, RD78GHV, RD78GHW |
|---|
| Name | Version | Size (byte) | Last update | File for download | Remarks |
|---|---|---|---|---|---|
| PLCopen Motion Control FB | 03D | 4,506,653 | Sep. 10, 2020 | MotionControl_RD78G_3d.zip | Latest version |
| PLCopen Motion Control FB | 01B | 4,211,474 | Dec. 20, 2019 | MotionControl_RD78G_1b.zip |
| Relevant manual | Type | Language |
|---|---|---|
| IB-0300410-E | MELSEC iQ-R Motion Module User's Manual (Application) | Japanese |
| IB-0300411ENG-C | English |
| FB name | Function name | Description | Ver. |
|---|---|---|---|
| MC_CamIn | Cam operation start | Starts the cam operation according to the specified cam data. | 03D |
| MC_CombineAxes | Addition/subtraction positioning | Performs positioning with the value obtained by adding/subtracting the movement amount of the two specified spindles as the command position. | 03D |
| MC_GearIn | Gear operation start | Starts the gear operation according to the specified gear ratio. | 03D |
| MC_GroupStop | Group forced stop | Decelerates the specified axis group to stop. | 03D |
| MC_Home | Zero return | Executes the zero return of the specified axis. | 03D |
| MC_MoveAbsolute | Absolute value positioning | Performs positioning by specifying the target position of the absolute position. | 03D |
| MC_MoveRelative | Relative value positioning | Performs positioning by specifying the movement amount of the relative position. | 03D |
| MC_MoveVelocity | Speed control | Switches the driver to the csp mode, and executes the speed control according to the specified target speed. | 03D |
| MCv_SpeedControl | Speed control (including position loop) | Executes the speed control including position loop. | 03D |
| MC_Stop | Forced stop | Decelerates the specified axis to stop. | 03D |
| MC_TorqueControl | Torque control | Switches the driver to the cst mode, and executes the torque control according to the specified target torque. | 03D |
| MCv_Jog | JOG operation | Executes the JOG operation according to the target speed. | 03D |
| MCv_MoveCircularInterpolateAbsolute | Absolute value circular interpolation control | Performs positioning by the 2-axis circular interpolation by using a configuration axis of the set axis group, and by using the specified end point and sub point of the absolute position. | 03D |
| MCv_MoveCircularInterpolateRelative | Relative value circular interpolation control | Performs positioning by the 2-axis circular interpolation by using a configuration axis of the set axis group, and by using the relative position from the specified current position at start to the end point and sub point. | 03D |
| MCv_MoveLinearInterpolateAbsolute | Absolute value linear interpolation control | Specifies the target position of the absolute position for the specified axis group and performs positioning by the linear interpolation control. | 03D |
| MCv_MoveLinearInterpolateRelative | Relative value linear interpolation control | Specifies the movement amount of the relative position for the specified axis group and performs positioning by the linear interpolation control. | 03D |
| MCv_SmoothingFilter | Smoothing filter | Executes the filter processing according to the specified frequency. | 03D |
| MC_CamTableSelect | Cam table selection | Stores the specified operation profile data in the open area. | 03D |
| MC_GroupDisable | Axis group disable | Transits the specified axis group status to "0: GroupDisabled". | 03D |
| MC_GroupEnable | Axis group enable | Transits the specified axis group status from "0: GroupDisabled" to "4: GroupStandby". | 03D |
| MC_Power | Operation possible | Switches the specified axis to the operation possible status. | 03D |
| MC_SetPosition | Current position change | Changes the current position (command position, feedback position) of the specified axis. | 03D |
| MCv_AllPower | All axes operation possible | Switches all the axes to the operation possible status. | 03D |
| MCv_ChangeCycle | Current value change per cycle | Changes the current value per cycle of the specified operation profile control FB. | 03D |
| MCv_SetTorqueLimit | Torque limit value | Changes the torque limit value. | 03D |
| MCv_ReadProfileData | Profile reading | Reads the specified operation profile data from the open area or file. | 03D |
| MCv_WriteProfileData | Profile writing | Writes the specified operation profile data to the open area or file. | 03D |
| MC_SetOverride | Override value setting | Changes the target speed and acceleration/deceleration speed of the specified axis. | 02C |
| MC_GroupSetOverride | Axis group override value setting | Changes the target speed and acceleration/deceleration speed of the specified axis group. | 02C |
| MC_ReadParameter | Parameter reading | Reads the object of the slave device. | 02C |
| MC_WriteParameter | Parameter writing | Writes the object of the slave device. | 02C |
| MCv_MotionErrorReset | Motion error reset | Resets all the errors and warnings of the motion system. | 02C |
| MC_Reset | Axis error reset | Resets the error and warning of the axis. | 02C |
| MC_GroupReset | Axis group error reset | Resets the errors and warnings of the axis group and each axis belonging to the axis group. | 02C |
| MC_TouchProbe | Touch probe valid | Records data at the occurrence of a trigger event. | 02C |
| MC_AbortTrigger | Touch probe invalid | Invalids the running latch. | 02C |
| MCv_BacklashCompensationFilter | Backlash correction filter | Performs the filter processing that corrects the backlash amount of the machine system according to the movement direction. | 02C |
| MCv_DirectionFilter | Movement direction limit filter | Performs the filter processing that limits the movement in the set movement direction. | 02C |
| MCv_SpeedLimitFilter | Speed limit filter | Performs the filter processing that limits the speed to the set limit value. | 02C |
[Revision history of PLCopen Motion Control FB Ver.03D (September, 2020)]
| No. | Description |
|---|---|
| 1 | Performance of the FB library has been improved. |
| 2 | The problem that an error (H0400) occurs while MCFB written by online program change is being executed has been solved. |
| 3 | The problem that MCFB may not operate when Execution command (Execute) is turned off after Executing (Busy) of MCFB is turned on has been solved. |
[Library registration procedure]
For the library registration procedure, refer to "MELSEC iQ-R Motion Module User's Manual (Application)".
