Mitsubishi Electric R16MTCPU Programming Manual page 305

Online change of the servo program
Online change of the servo program during edit is executed by selecting the [Convert] button. Online change is possible to the
servo program during execution. A program that the online change was made is executed at the next servo program start.
Operations for which made the online change to the servo program in the following conditions during execution are shown
below. Be careful to execute the online change in the following conditions.
Program Condition
Online change of the servo program Kn at the WAITON or
after WAITOFF is executed in the state of waiting for the
ON bit device
completion of condition for WAITON/WAITOFF.
Kn
or
OFF bit device
Kn
Online change of the servo program Kn after Gn is executed in
the state of waiting for the completion of condition for Gn.
Gn
Kn
or
Gn
Kn
[Convert] button
Operation
• After completion of condition for WAITON/WAITOFF, the
servo program before the online change is started.
• The servo program that the online change was made is
executed at the next servo program start.
After completion of condition for Gn, the servo program that
online change was made is executed.
7 MOTION SFC FUNCTIONS
7.1 Online Change in the Motion SFC Program
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