APP - 35
APPENDICES
(2) Contents of processing the Motion SFC program
Motion SFC program list
No. Program name Task
Automatic
operation
Number of
connective
transitions
Contents of processing
20 Main Normal Start 3
• This program starts automatically at the time of RUN of Motion
CPU, and it is always executed.
• "0" is set on the continuation point (#100 : user device) as an
initial value.
• The subroutine starts a "No.160 : Re-start continuation" after all
axes servo are turned on and servo on of 1 axis and 2 axes is
confirmed when a forced stop is released.
• "No.160 : Re-start continuation" is stopped at the time of the
forced stop, and actual output (PY) is turned off.
160
Restart
continuation
Normal Not start 3
(1) This program jumps corresponding to the value of the
continuation point (#100) of the following (2) 1) to 9).
#100 Jump destination
0 Following (2) 1)
10 Following (2) 3)
20 Following (2) 5)
30 Following (2) 8)
(2) The following motion control is executed.
1) This program stands by until PX4 is turned on.
2) "10" is set on continuation point (#100).
3) 1 axis, 2 axes are located in (0,0) in the linear control
(absolute 2 axes positioning).
4) Positioning completion signal on of 1 axis, 2 axes is
confirmed, and "20" is set on the continuation point (#100).
5) In-position on of 1 axis and 2 axes is confirmed.
6) 1 axis, 2 axes are located in (1000000, 2000000) in the
linear control (absolute 2 axes positioning).
7) Positioning completion signal on of 1 axis, 2 axes is
confirmed, and "30" is set on the continuation point (#100).
8) This program stands by until PX4 is turned off.
9) "0" is set on continuation point (#100).
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