Mitsubishi Electric R16MTCPU Programming Manual page 297

• Program run by event task
Item When "automatically started"
Start control At occurrence of an event after "[Rq.1120] PLC ready flag (R:
M30000/Q: M2000)" ON, the program is executed from the initial
(first) step in accordance with the number of consecutive transitions of
the corresponding program.
The program is executed continuously by the number of consecutive transitions of the corresponding program each time an event occurs.
(The subroutine called program is controlled in accordance with the "executed task" and "number of consecutive transitions" of the call source
program.)
END control As specified for END operation.
[END]
• Program run by NMI task
Item When "automatically started"
Start control At occurrence of an event after "[Rq.1120] PLC ready flag (R:
M30000/Q: M2000)" ON, the program is executed from the initial
(first) step in accordance with the number of consecutive transitions of
the corresponding program.
The program is executed continuously by the number of consecutive transitions of the corresponding program each time an event occurs.
END control As specified for END operation.
[END]
■Errors
None.
In the case of the program which is executed by the normal task, write the program so that it is not ended by
[END] but it returns to the starting step by a jump when starting of the automatically from an initial again.
When "not automatically started"
The program is started by the Motion SFC start request (M(P).SFCS/
D(P).SFCS) from other CPU or by a subroutine call/start (GSUB)
made from the Motion SFC program.
• When started by the Motion SFC start request (M(P).SFCS/
D(P).SFCS): At occurrence of an event after execution of the
Motion SFC start request (M(P).SFCS/D(P).SFCS), the program is
run from the initial (first) step in accordance with the number of
consecutive transitions of the corresponding program.
• When subroutine started: At occurrence of an event after execution
of GSUB, the program is executed from the first step in accordance
with the number of consecutive transitions of the corresponding
program.
• When subroutine called: The program is executed immediately
from the first step.
When "not automatically started"
The program is started by the Motion SFC start request (M(P).SFCS/
D(P).SFCS) from the PLC or by a subroutine call/start (GSUB) made
from within the Motion SFC program.
• When started by Motion SFC start request (M(P).SFCS/
D(P).SFCS): At occurrence of an event after execution of Motion
SFC start request (M(P).SFCS/D(P).SFCS), the program is run
from the initial (first) step in accordance with the number of
consecutive transitions of the corresponding program.
• When subroutine started: At occurrence of a valid event after
execution of GSUB, the program is executed from the first step in
accordance with the number of consecutive transitions of the
corresponding program.
• When subroutine called: The program is executed immediately
from the first step.
6 OPERATION FOR MOTION SFC AND PARAMETER
6.9 Program Parameters
6
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