6 OPERATION FOR MOTION SFC AND PARAMETER
6.10 Task and Interrupt Processing
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6
However, when the timing of axis 1 moving from 359.99999[degree] to 0[degree] coincides with the timing of the interrupt
execution processing in the middle of [G1] processing in Motion SFC normal task processing, an unintended operation may
occur.
When using the device whose value changes by the Motion operation cycle in a conditional expression, store the value to a
device and make the program compare values as shown below.
0
36000000
Feed current
value
t
(1)
Motion SFC normal
task processing
Motion operation
processing
D0L
(2)
M100
(1) Executing conditional sentence "(D0L>=K12000000)" of [G0]
(2) Executing conditional sentence "(D0L<=K13000000)" of [G0]
M100 turned ON when D0L is outside the range of 12000000 to 13000000
18000000
13000000
12000000
[G0]
D8000L=D0L
(D8000L>=K12000000)*(D8000L<=K13000000)
ABS-1
Axis 1, 160.00000 degree
Speed 1000.000 degree/min
ABS-1
Axis 1, 350.00000 degree
Speed 1000.000 degree/min
[K0]
[K1]
[G0]
NOP
[F1]
SET M100
[F0]
RST M100
Compare after storing the D0L value to D8000L
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