Inovance H3U Series - Execution and Call of Motion Control Subprogram

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7 Motion Control7.3 Execution and Call of Motion Control Subprogram
7.3 Execution and Call of Motion Control Subprogram
1) Execution of motion control subprograms (MC subprograms and G-code subprograms)
The motion control subprograms supported by the H3U-PM Series PLC are classied into two types: MC
and G-code. G-code subprograms are a kind of MC subprograms.
The following gure shows the execution logic and cyclic scan mode of the main program and subprograms.
The motion control main program and subprograms are executed by single trigger in parallel, as shown in
the following gure.
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In this case, a "main process" and a "motion process" are generated in the PLC. The main process
starts the motion process, and the two processes run in parallel and exchange data through value
assignment to elements.
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Both the main program and its subprograms are in the main process, and instructions, including the
positioning instructions, can be used. Programs in the motion process can be started, but only one
program can be started at a time; otherwise, an error is returned.
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The motion control subprograms (MC subprograms and G-code subprograms) are in the motion
process. Subprograms can be called through M98 in the G-code in the motion process.