Subtask Program - Mitsubishi FX2N-10GM Hardware / Programming Manual

FX Series Positioning Controllers
5.2

Subtask program

This section explains the subtask which mainly processes programmable controller programs.
Main task and subtask
• A main task is a positioning program expressed as O, Ox and Oy which performs position-
ing in the simultaneous 2-axis mode or independent 2-axis mode (Ox exclusively is avail-
able in the FX
A subtask is a program which mainly consists of sequence instructions and does not per-
form positioning control.
• There are two or more main programs, and the program to be executed can be selected
using PARA. 30 (program No. specification).
Only one subtask can be created. The selected main tasks and the subtask are executed
simultaneously.
Rules for subtasks
Specifying the subtask
The program No. of any subtask is O100 which must be included in the first line.
Add "m102 (END)" at the end of a program. Use "m100 (WAIT)" for a temporary stop. "m102"
and "m100" are fixed.
Subtask program position
A subtask can be created in any position in the program area (Steps 0 to 3799 or 0 to 7799) of
the positioning unit. It is recommended for easy recognition to create it after the positioning
program.
Subtask start/stop
Start, stop, single-step operation, etc. of a subtask are set by parameters (Refer to Section 4.3.3.).
For special auxiliary relays and special data registers for subtasks, refer to Section 6.2.
-10GM.).
2N
Main tasks
Positioning programs
·Simultaneous 2-axis
·X axis
·Y axis main task
This portion is
called a subtask
program.
Subtasks
Sequence
programs
Subtask program
O100 ······ Start of subtask
program
m100 ······ Temporary stop
(WAIT)
m102 ······ End (END)
Program format 5
5-3