Mitsubishi Electric R64MTCPU

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2 MOTION DEDICATED PLC INSTRUCTION

2.2 Motion Dedicated PLC Instruction

Program example

■Program which starts the Motion SFC program No.10 of the Motion CPU (CPU No.2), when M0

turned ON.

• (Example 1) Program which omits the complete device and complete status.

• (Example 2) Program which uses the complete device and complete status.

Instruction

execution

command

Instruction

execution

command

MP.SFCS H3E1 K10

RST M0

Instruction

execution

command

Normal complete program

Instruction

execution

command

M100

Complete

device

M101

MP.SFCS H3E1 K10 M100 D100

Abnormal complete program

RST M0

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 35

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