Steps; Motion Control Step - Mitsubishi Electric R16MTCPU Programming Manual

3.5

Steps

Motion control step

Name
Motion control step
*1 For operating system software version "09" or earlier, K0 to K4095.
Processing details
• Turns on the start accept flag of the axis specified with the specified servo program Kn running.
• Starts the specified servo program Kn.
■Execution timing
Completion of transition condition
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
V
Operation error
When the specified servo program Kn does not exist, the minor error (SFC) (error code: 31F0H) will occur and stops to
execute the Motion SFC program at the error detection.
Precautions
• When the current value change is executed in the Motion SFC program running, specify the CHGA instruction in the servo
program and call it at the motion control step.
• If the servo program has stopped due to a minor error which occurred at or during a start of the servo program specified
with the motion control step, the Motion SFC program continues executing. When the Motion SFC program is stopped at
error detection, provide an error detection condition at the transition (transition condition).
• Refer to the following for servo programs that can be described in Motion control steps.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
Symbol
Kn
t
Setting range
*1
K0 to K8191
3 MOTION SFC PROGRAMS
3
99
3.5 Steps