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1 OVERVIEW
1.2 Structure of the Motion CPU Program
1.2 Structure of the Motion CPU Program
• By using the sequence program in the PLC CPU, Motion dedicated PLC instructions in the Motion CPU perform the
following controls.
• Motion CPU programs are created in the Motion SFC flowchart format. In positioning control, the motion control of
servomotors is performed using the servo programs specified by motion-control steps in a Motion SFC program.
• By setting the synchronous control parameter and starting the synchronous control for each output axis, the advanced
synchronous control is performed in synchronization with the input axis (servo input axis, command generation axis,
synchronous encoder axis).
• In machine control, the machine is controlled by using machine positioning data set in the devices, and the settings in the
machine control parameters for the machine type being used.
• Refer to the following for the details of Motion dedicated PLC instructions in the PLC CPU, Motion SFC programs, motion
control in positioning control, motion control in advanced synchronous control, and motion control in machine control.
• Start of Motion SFC program
• Start of servo program
• Direct positioning (perform positioning control by sequence program)
• Change of current value/speed/torque limit value
• Start of machine program operation
• Start of event task
Item Reference
Motion dedicated PLC instructions in the PLC CPU Page 29 MOTION DEDICATED PLC INSTRUCTION
Motion SFC program Page 92 MOTION SFC PROGRAMS
Motion control in positioning control (Servo program) MELSEC iQ-R Motion controller Programming Manual (Positioning Control)
Motion control in advanced synchronous control (Synchronous control
parameter)
MELSEC iQ-R Motion controller Programming Manual (Advanced
Synchronous Control)
Motion control in machine control (Machine control parameter) MELSEC iQ-R Motion controller Programming Manual (Machine Control)
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