Mitsubishi Electric Q173DSCPU - Motion SFC Chart Symbol List

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4 MOTION SFC PROGRAMS
4.2 Motion SFC Chart Symbol List
Parts as Motion SFC program components are shown below. The operation sequence
or transition control is expressed with connecting these parts by directed lines in the
Motion SFC program.
Classification Name
Symbol
(Code size (byte))
List
representation
Function
Program
start/end
START
Program name
(0)
Program name
• Indicates an entry of program as a program name.
• Specify this program name at a subroutine call.
• Only one program name for one program.
END
END
(8)
END
• Indicates an end (exit) of program.
• When a subroutine call was carried out, returns to the call
source program.
• Multiple program names or no symbols for one program.
Step
Motion control
step
Kn
(8)
CALL Kn • Starts a servo program Kn (K0 to K4095).
Once
execution type
operation
control step
Fn
(8)
CALL Fn • Execute once the operation control program Fn (F0 to F4095).
Scan execution
type operation
control step
FSn
(8)
CALL FSn
• Repeats an operation control program FSn (FS0 to FS4095)
until the next transition condition enables.
Subroutine
call/start step
Program name
(8)
GSUB program
name
• When the next of GSUB is WAIT, performs "subroutine call"
and transits control to the specified program. Control returns to
the call source program at END execution.
• When the next of GSUB is except WAIT, performs "subroutine
start", and starts the specified program and transits to the next
(lower part). The start source and destination programs are
executed simultaneously, and the call destination program
ends at END execution.
Clear step
Program name
CLR
(8)
CLR program
name
• Stops and ends the specified program running. After an end, it
is started from the initial (start step) by restarting the program.
• When the specified program is during "subroutine call", the
subroutine program is also stopped to execute.
• When the specified program is after "subroutine start", the
subroutine program is not stopped to execute.
• When clearing to the subroutine by which the "subroutine call"
was executed, the specified subroutine is stopped to execute,
returns to the call source program, and transits to the next.