Continuation Execution Example After The Stop By The Motion Sfc Program - Mitsubishi Electric R16MTCPU Programming Manual

Continuation execution example after the stop by the Motion SFC
program
The explanation of the operation
The program example that the Motion SFC program is stopped by external input signal ON for the forced stop from the input
module, and it is executed continuously by external signal OFF for the stop is shown below. 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 X5 turns ON during the positioning operating,
the positioning operation is stopped by the stop instruction and it is resumed from the interrupted positioning operation at
turning X5 on. The transition to the next step is not executed during X5 is ON in the WAIT transition. 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
stop
and stop after is executed by this program example by the following processing.
• While X5 turns it on, it is made to turn on a "[Rq.1140] Stop command (M3200+20n)" and an internal relay (M100) for the
stop.
• While X5 turns it off, it is made to turn off a "[Rq.1140] Stop command (M3200+20n)" and an internal relay (M100) for the
stop.
• A motion control step does absolute position 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 it is stopped during the positioning on
the way.
• The motion control step is resumed after it waits to turn it off, when it was stepped during positioning.
• "The internal relay (M100) for the stop turn off." is substituted for the WAIT transition condition that you must stop.
Contents of processing Motion SFC program
■Motion SFC program list
No. Program name Task
20 Main Normal
170 Stop Normal
150 Program operation Normal
Automatic Number of Contents of processing
operation connective
transitions
Start 3 • This program starts automatically at the time of RUN of Motion CPU, and it is
always executed.
• The initials condition of the internal relay (M100) for the stop is turned on.
• The subroutine starts "No.170: Stop".
• The subroutine starts "No.150: Programming operation".
• When an forced stop is released, all axes servo are turned on.
• Turns off actual output (Y) at the time of the forced stop.
Not start 3 (1) When a stop input signal (X5) from the input unit is off, the treatment of the
following (2) is executed, and 1 axis and 2 axes executed the following (3) during
servo on in the case of the one except for it.
(2) 1 axis and 2 axes stop command are turned off, and an internal relay (M100)
for the stop is turned off.
(3) 1 axis and 2 axes stop command are turned on, and an internal relay (M100)
for the stop is turned on.
Not start 3 • The following motion control is executed.
(1) This program stands by until X4 is turned on.
(2) 1 axis and 2 axes are located in (0,0) in the linear interpolation control
(absolute 2 axes positioning).
(3) Positioning completion signal on of 1 axis and 2 axes are confirmed.
(4) In-position on of 1 axis and 2 axes are confirmed.
(5) 1 axis and 2 axes are located in (1000000, 2000000) in the linear control
(absolute 2 axes positioning).
(6) Positioning completion signal on of 1 axis and 2 axes are confirmed.
(7) This program stands by until X4 is turned off.
• When a positioning completion signal of the above (3) and (6) is off, it waits to
turn off, and (When a positioning was suspended on the way.) execute the
motion control step (2) or (5) again.
• Until an internal relay (M100) for the stop turns it on, it does not move to the
next step of the above (1) and (7).
APPENDICES APPENDIX
Appendix 2 Sample Program
A
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