Task Operation - Mitsubishi Electric R16MTCPU Programming Manual

Task operation

Normal task operation
■Operations
The Motion SFC program is executed in the main cycle (free time) of the Motion CPU. The processing outline is shown below.
• Number of consecutive transitions is set to "2".
Program 1
Program name
SFCS1 SFCS2
Sequence program
Normal task
■Points
• The Motion SFC program which includes motion control steps should be set to a normal task.
• During execution of an event or NMI task, the execution of the normal task is suspended. Note that since the normal task
allows the event task disable instruction (DI) to be described in an operation control step, the event task can be disabled in
the area enclosed by the event task disable instruction (DI) and event task enable instruction (EI). The event task enable/
disable status can be confirmed with "EI flag (SM752)".
Event task operation
■Operations
An event task executes the Motion SFC program at occurrence of an event. There are the following events.
Event
Fixed cycle
External interrupt (16 points interrupt pointer (I0
to I15))
PLC interrupt
Program 2
Program name
(1)
F20 F30
F1 F5
F2 F6
(2)
F3 F7
END F8
END
Main cycle
(1) (A)
Main cycle
(C)
Contents
The Motion SFC program is executed periodically in any of 0.222ms, 0.444ms, 0.888ms, 1.777ms,
3.555ms, 7.111ms and 14.222ms cycles.
Among 16 points of the interrupt pointer (I0 to I15) assigned to the Motion CPU controlled input module, the
Motion SFC program is run when the input set for an event task turns on.
The Motion SFC program is executed when the M(P).GINT/D(P).GINT instruction is executed in the
sequence program.
(A)
(B)
(C)
Main cycle
(2) (B)
Normal task is ended with END.
(No continuation operation)
When making it operate
continuously, it returns to
starting step in a jump.
6 OPERATION FOR MOTION SFC AND PARAMETER
6.2 Number of Consecutive Transitions and Task Operation
6
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