Continuation Execution Example At The Subroutine Re-Start By The Motion Sfc Program - Mitsubishi Electric R16MTCPU Programming Manual

Continuation execution example at the subroutine re-start by the
Motion SFC program
Explanation of the operation
This is the program example which execute continuously from the motion control step which stopped on the way when it re-
started after stopping the subroutine program with the clear step during the motion control is running. The servo is turned on
by the forced stop release and the positioning control of the 2 axes linear interpolation is executed when X4 is ON in this
program. One cycle operation is completed after confirmation that X4 became OFF. When the forced stop is executed during
the positioning operating, the positioning operation is interrupted and the servomotor is stopped. It is resumed from the
interrupted positioning operation when the forced stop was released next. Continuation execution of the subroutine re-start is
executed by this program example by the following processing.
• While motion control with the subroutine is executed, it is memorized whether the positioning of which motion control step
was completed in the user device.
• The subroutine re-start is resumed from the motion control step that was stopped based on the information memorized
above.
• A motion control step should locate absolute to cope with it when it is resumed after it stops on the way of the positioning.
• "[St.1060] Positioning start complete (M2401+20n)" is used for the decision, whether servomotor is stopped during the
positioning.
Contents of processing the Motion SFC program
■Motion SFC program list
No. Program name
20 Main
160 Restart
continuation
APPENDICES APPENDIX
342
Appendix 2 Sample Program
Task Automatic Number of
operation connective
transitions
Normal Start 3
Normal Not start 3
Contents of processing
• This program starts automatically at the time of RUN of Motion CPU, and it is
always executed.
• "0" is set on the continuation point (#100: user device) as an initial value.
• The subroutine starts a "No.160: Re-start continuation" after all axes servo are
turned on and servo on of 1 axis and 2 axes is confirmed when a forced stop is
released.
• "No.160: Re-start continuation" is stopped at the time of the forced stop, and
actual output (Y) is turned off.
• This program jumps corresponding to the value of the continuation point (#100)
of the following (1) to (9).
#100 Jump destination
0 Following (1)
10 Following (3)
20 Following (5)
30 Following (8)
• The following motion control is executed.
(1) This program stands by until X4 is turned on.
(2) "10" is set on continuation point (#100).
(3) 1 axis, 2 axes are located in (0,0) in the linear control (absolute 2 axes
positioning).
(4) Positioning completion signal on of 1 axis, 2 axes is confirmed, and "20" is set
on the continuation point (#100).
(5) In-position on of 1 axis and 2 axes is confirmed.
(6) 1 axis, 2 axes are located in (1000000, 2000000) in the linear control
(absolute 2 axes positioning).
(7) Positioning completion signal on of 1 axis, 2 axes is confirmed, and "30" is set
on the continuation point (#100).
(8) This program stands by until X4 is turned off.
(9) "0" is set on continuation point (#100).