Mitsubishi Electric R16MTCPU Programming Manual page 301

However, when the timing of axis 1 moving from 359.99999[degree] to 0[degree] coincides with the timing of the interrupt
execution processing in the middle of [G1] processing in Motion SFC normal task processing, an unintended operation may
occur.
Feed current
value
36000000
D0L 18000000
13000000
12000000
0
Motion operation
processing
Motion SFC normal
task processing
M100
When using the device whose value changes by the Motion operation cycle in a conditional expression, store the value to a
device and make the program compare values as shown below.
[F0]
RST M100
[K0]
ABS-1
Axis 1, 350.00000 degree
Speed 1000.000 degree/min
[G0]
NOP
[K1]
ABS-1
Axis 1, 160.00000 degree
Speed 1000.000 degree/min
[G0]
D8000L=D0L
(D8000L>=K12000000)*(D8000L<=K13000000)
[F1]
SET M100
(1) (2)
M100 turned ON when D0L is outside the range of 12000000 to 13000000
(1) Executing conditional sentence "(D0L>=K12000000)" of [G0]
(2) Executing conditional sentence "(D0L<=K13000000)" of [G0]
Compare after storing the D0L value to D8000L
6 OPERATION FOR MOTION SFC AND PARAMETER
t
6.10 Task and Interrupt Processing
6
299