Mitsubishi Electric Q173DSCPU - Page 18

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6. TRANSITION PROGRAMS 6- 1 to 6- 2
6.1 Transition Programs ................................................................................................................................. 6- 1
7. MOTION CONTROL PROGRAMS 7- 1 to 7-22
7.1 Servo Instruction List ................................................................................................................................ 7- 1
7.2 Servo Motor/Virtual Servo Motor Shaft/Command Generation Axis Current Value Change ................ 7-14
7.3 Synchronous Encoder Shaft Current Value Change Control (SV22 virtual mode only) ....................... 7-17
7.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 virtual mode only) .............. 7-20
7.5 Programming Instructions ........................................................................................................................ 7-22
7.5.1 Cancel • start ..................................................................................................................................... 7-22
7.5.2 Indirect designation using motion devices........................................................................................ 7-22
8. MOTION DEVICES 8- 1 to 8- 4
8.1 Motion Registers (#0 to #12287) .............................................................................................................. 8- 1
8.2 Coasting Timer (FT) .................................................................................................................................. 8- 4
9. OPERATION FOR MOTION SFC AND PARAMETER 9- 1 to 9-20
9.1 Task Definitions ........................................................................................................................................ 9- 1
9.2 Number of Consecutive Transitions and Task Operation ...................................................................... 9- 1
9.2.1 Number of consecutive transitions ................................................................................................... 9- 1
9.2.2 Task operation ................................................................................................................................... 9- 2
9.3 Execution Status of the Multiple Task ..................................................................................................... 9- 6
9.4 How to Start the Motion SFC Program .................................................................................................... 9- 7
9.4.1 Automatic start................................................................................................................................... 9- 7
9.4.2 Start from the Motion SFC program ................................................................................................. 9- 7
9.4.3 Start by Motion dedicated PLC instruction from PLC (PLC instruction: D(P).SFCS) ..................... 9- 7
9.5 How to End the Motion SFC Program ..................................................................................................... 9- 7
9.6 How to Change from One Motion SFC Program to Another .................................................................. 9- 8
9.7 Operation Performed at Multiple CPU system Power-Off or Reset ..................................................... 9- 8
9.8 Operation Performed when CPU is Switched from RUN/STOP ............................................................ 9- 8
9.9 Operation Performed when PLC Ready Flag (M2000) Turns OFF/ON ................................................. 9- 9
9.10 Operation at the Error Occurrence ........................................................................................................ 9- 9
9.11 Task Parameters .................................................................................................................................... 9-10
9.12 Program Parameters.............................................................................................................................. 9-12
9.13 Task and Interrupt Processing ............................................................................................................... 9-17
10.ONLINE CHANGE IN THE MOTION SFC PROGRM 10- 1 to 10- 8
10.1 Online Change in the Motion SFC Program ....................................................................................... 10- 1
10.1.1 Operating method for the online change ...................................................................................... 10- 3
10.1.2 Writing of program ......................................................................................................................... 10- 6
11. USER FILES 11- 1 to 11- 4
11.1 Project .................................................................................................................................................. 11- 1
11.2 User File List ........................................................................................................................................ 11- 2