Mitsubishi Electric R64MTCPU

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4 OPERATION CONTROL PROGRAMS

4.14 Program Control

195

Program example

■Program which adds K10 to #100 when #0 is K100 or adds K20 to #100 when #0 is other than

K100

■Program which executes the speed change of axis 2 with CHGV instruction when M0 or M1 is

IF #0 == K100

#100 = #100 + K10

ELSE

#100 = #100 + K20

IEND

IF M0 + M1

CHGV(K2, K10)

IEND

Main Page

Default Chapter3
- Safety Precautions3
- Conditions of Use for the Product11
- Introduction11
- Table of Contents12
- Relevant Manuals17
- Terms18
- Manual Page Organization19
Chapter 1 Overview21
Performance Specifications21
- Motion SFC Performance Specifications21
- Operation Control/Transition Control Specifications22
Structure of the Motion CPU Program30
Chapter 2 Motion Dedicated Plc Instruction31
Outline of Motion Dedicated PLC Instruction31
- Motion Dedicated PLC Instruction32
Precautions84
- CPU Buffer Memory Address Used in Motion Dedicated Instruction84
- Number of Blocks Used for Motion Dedicated PLC Instruction86
- Execution of Motion Dedicated PLC Instruction90
- Complete Status Information91
- Order of Instruction Execution92
Chapter 3 Motion Sfc Programs94
Motion SFC Program Configuration94
Motion SFC Chart Symbol List95
Branch and Coupling Chart List97
Motion SFC Program Name100
Steps101
- Motion Control Step101
- Operation Control Step102
- Subroutine Call/Start Step103
- Clear Step104
Transitions105
Jump, Pointer107
End108
Branches, Couplings109
- Series Transition109
- Selective Branch, Selective Coupling110
- Parallel Branch, Parallel Coupling111
Y/N Transitions113
Motion SFC Comments117
Chapter 4 Operation Control Programs119
- Operation Control Programs119
Device Descriptions124
Constant Descriptions127
Labels128
- Types128
- Data Types128
- Arrays129
- Structures130
- Precautions132
Binary Operations133
- Substitution133
- Addition135
- Subtraction136
- Multiplication137
- Division138
- Remainder139
Bit Operations140
- Bit Inversion (Complement)140
- Bit Logical and141
- Bit Logical or142
- Bit Exclusive Logical or143
- Bit Right Shift144
- Bit Left Shift145
- Sign Inversion (Complement of 2)146
Standard Functions147
- Sine: sin147
- Cosine: COS148
- Tangent: tan149
- Arcsine: ASIN150
- Arccosine: ACOS151
- Arctangent: ATAN152
- Square Root: SQRT153
- Natural Logarithm: LN154
- Exponential Operation: EXP155
- Absolute Value: ABS156
- Round-Off: RND157
- Round-Down: FIX158
- Round-Up: FUP159
- BCD -> bin Conversion: bin160
- BIN -> BCD Conversion: BCD161
Data Control162
- 16-Bit Integer Type Scaling: SCL162
- 32-Bit Integer Type Scaling: DSCL166
Type Conversions169
- Signed 16-Bit Integer Value Conversion: SHORT169
- Unsigned 16-Bit Integer Value Conversion: USHORT170
- Signed 32-Bit Integer Value Conversion: LONG172
- Unsigned 32-Bit Integer Value Conversion: ULONG173
- Signed 64-Bit Floating-Point Value Conversion: FLOAT175
- Unsigned 64-Bit Floating-Point Value Conversion: UFLOAT176
- Floating-Point Value Conversion 32-Bit into 64-Bit: DFLT177
- Floating-Point Value Conversion 64-Bit into 32-Bit: SFLT178
Bit Device Statuses179
- ON (Normally Open Contact): (None)179
- OFF (Normally Closed Contact)180
Bit Device Controls181
- Device Set: SET181
- Device Reset: RST182
- Device Output: DOUT183
- Device Input: DIN184
- Bit Device Output: out185
Logical Operations186
- Logical Acknowledgement: (None)186
- Logical Negation187
- Logical and188
- Logical or189
Comparison Operations190
- Equal to190
- Not Equal to191
- Less than192
- Less than or Equal to193
- More than194
- More than or Equal to195
Program Control196
- Conditional Branch Control: if - else - IEND196
- Selective Branch Control: SELECT - CASE - SEND198
- Repeat Control with Specified Count: for - NEXT200
- Forced Termination of Repeat Control: BREAK202
Motion-Dedicated Functions203
- Speed Change Request: CHGV203
- Command Generation Axis Speed Change Request: CHGVS207
- Torque Limit Value Change Request: CHGT211
- Target Position Change Request: CHGP213
- Machine Program Operation Start Request: MCNST221
Advanced Synchronous Control Dedicated Function223
- Cam Data Read: CAMRD223
- Cam Data Write: CAMWR228
- Cam Auto-Generation: CAMMK232
- Cam Position Calculation: CAMPSCL244
Vision System Dedicated Function247
- Open Line: MVOPEN247
- Load a Program: MVLOAD248
- Send an Image Acquisition Trigger: MVTRG249
- Start a Program: MVPST250
- Input Data: MVIN252
- Output Data: MVOUT254
- Reset a Status Storage Device: MVFIN256
- Close Line: MVCLOSE257
- Send a Command for Native Mode: MVCOM258
Add-On Dedicated Function261
- Call Add-On Module: MCFUN261
Other Instructions263
- Event Task Enable: EI263
- Event Task Disable: DI264
- No Operation: NOP265
- Block Transfer: BMOV266
- Same Data Block Transfer: FMOV268
- Write Device Data to Buffer Memory: to270
- Read Device Data from Buffer Memory: from272
- Write Buffer Memory Data to Head Module: RTO275
- Read Buffer Memory Data from Head Module: RFROM278
- Time to Wait: TIME281
Comment Statement283
Chapter 5 Transition Programs284
- Transition Programs284
Chapter 6 Operation for Motion Sfc and Parameter286
Task Definitions286
Number of Consecutive Transitions and Task Operation286
- Number of Consecutive Transitions286
- Task Operation287
Execution Status of the Multiple Task290
How to Start the Motion SFC Program292
- Automatic Start292
- Start from the Motion SFC Program292
- Start from the Motion Dedicated PLC Instruction of Other CPU (PLC Instruction: M(P).SFCS/D(P).SFCS)292
How to End the Motion SFC Program293
How to Change from One Motion SFC Program to Another293
Operation Performed at Multiple CPU System Power-Off or Reset293
Task Parameters294
Program Parameters296
Task and Interrupt Processing300
Chapter 7 Motion Sfc Functions302
Online Change in the Motion SFC Program302
- Operating Method for the Online Change303
- Reading/Writing of Program306
Motion SFC Program Monitor and Debug Mode308
- Motion SFC Program Monitor308
- Debug Mode308
Appendices309
Appendix 1 Processing Times309
- Processing Time of Operation Control/Transition Instruction309
- Processing Time of Advanced Synchronous Control Dedicated Functions333
- Deploying Time for Cam Data335
- Processing Time of Motion Dedicated PLC Instruction336
Appendix 2 Sample Program337
- Motion Control Example by Motion SFC Program337
- Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program344
- Continuation Execution Example after the Stop by the Motion SFC Program347
- Revisions350
- Warranty351
- Trademarks352

Mitsubishi Electric R64MTCPU - Page 197

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