Mitsubishi Electric Q173DSCPU - Page 449

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9 OPERATION FOR MOTION SFC AND PARAMETER
 Program run by NMI task
No. Item When "automatically started" When "not automatically started"
1 Start control
At occurrence of a valid event after PLC
ready flag (M2000) ON, the program is
executed from the initial (first) step in
accordance with the number of consecutive
transitions of the corresponding program.
The program is started by the Motion SFC start request (D(P).SFCS)
from the PLC or by a subroutine call/start (GSUB) made from within
the Motion SFC program.
 When started by the Motion SFC start request (D(P).SFCS)
At occurrence of an event after execution of the Motion SFC start
request (D(P).SFCS), the program is run from the initial (first) step
in accordance with the number of consecutive transitions of the
corresponding program.
 When subroutine started
At occurrence of an event after execution of GSUB, the program is
executed from the first step in accordance with the number of
consecutive transitions of the corresponding program.
 When subroutine called
The program is executed immediately from the first step.
The program is executed continuously by the number of consecutive transitions of the corresponding program each
time an event occurs.
2
END control
END
As specified for END operation.
[Errors]
None.
POINT
In the case of the program which is executed by the normal task, write the
program so that it is not ended by END
but it returns to the starting step by a
jump when starting of the automatically from an initial again.
(2) Execute task
[Description]
Set the timing (task) to execute a program.
Specify whether the program will be run by only one of the "normal task (main
cycle), event task (fixed cycle, external interrupt, PLC interrupt) and NMI task
(external interrupt)".
When the event task is set, multiple events among the "fixed cycle, external
interrupt (for event task) and PLC interrupt".
However, multiple fixed cycles cannot be set toward one Motion SFC program.
<Example> Interrupt setting: Inputs for event task I6, I7, I8, I9, I10, I11, I12, I13,
I14 and I15
Motion SFC program No. 10 – event : Fixed cycle (3.55ms)
Motion SFC program No. 20 – event :
Fixed cycle (1.77ms) + external interrupt (I6)
Motion SFC program No. 30 – event :
External interrupts (I7, I15) + PLC CPU
interrupt