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3 MOTION DEDICATED PLC INSTRUCTION
(3) Execution of Motion dedicated PLC instruction
(a) Motion dedicated PLC instruction can be executed with a fixed cycle execute
type program and interrupt program. However, the complete device is a
pulse-type. If the complete device (M100 in below example) is set, it may not
be recognized during the PLC scan. Therefore, the sequence program
should scan for completion of the device and use a set bit to execute the
Motion instruction string.
"J1" M100 D100K11H3E1DP.SVST
M100
Normal complete program
Abnormal complete program
M101
M101
M10
Complete
device
(b) The below devices cannot be used as program file registers or local devices.
• Each instruction’s complete device and complete status
• D1 of D(P).DDRD instruction (First device of the self CPU where the
reading data is stored.)
(c) When using the Motion dedicated function of the operation control step
(Fn/FSn) and servo program (Kn) in Motion CPU, it is necessary to create a
user-defined interlock using WAIT transition (Gn) as shown below.
Gn
Kn
Gn
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