Enables semaphorin receptor activity. Involved in several processes, including nervous system development; regulation of neuron migration; and semaphorin-plexin signaling pathway. Acts upstream of or within positive regulation of axonogenesis. Is integral component of plasma membrane. Is expressed in several structures, including alimentary system; brain; genitourinary system; respiratory system; and sensory organ. Orthologous to human PLXNB2 (plexin B2). [provided by Alliance of Genome Resources, Apr 2022]