Chapter 3 Motion Sfc Programs; Motion Sfc Program Configuration - Mitsubishi Electric R16MTCPU Programming Manual

3
MOTION SFC PROGRAMS
3.1

Motion SFC Program Configuration

The Motion SFC Program is constituted by the combination of start, steps, transitions, end and others are shows below.
Program
Operation
name
start
Positioning
F0
ready
Positioning
G0
ready check
Positioning
K0
execution
Positioning
complete
G1
check
Operation
END
end
The above Motion SFC program to be started performs the following operations.
1.
The step (F0) is activated and the operation specified with the step (F0) is executed (positioning ready). A step in such
an active state is called an active step.
2.
Whether the condition specified with the transition (G0) has enabled or not (whether the positioning program can be
started or not) is checked. The active step (F0) is deactivated at the completion of condition and the next step (K0) is
activated. (Servo program (K0) is started)
3.
The operating completion of the step (K0) (positioning completion of the servo program K0) is checked, and control
transits to the next step at operating completion (completion of condition).
4.
With the transition of the active step as described in above 1. to 3., control is executed and ends at END.
Refer to the task operation for details of the execution timing of the Motion SFC program such as above. (Page 285 Task
operation)
The combined number of steps for all Motion SFC programs which can be active simultaneously is up to 1024
(for operating system software version "08" or earlier, up to 256). Exceeding 1024 steps will result in the minor
error(SFC) (error code: 33FEH). Each symbol of the Motion SFC program is as follows.
F/FS: Operation control, K: Positioning control, G: Judgment
3 MOTION SFC PROGRAMS
92
3.1 Motion SFC Program Configuration
START: Entry of program.
Step (operation control step): The specified operation
control program is executed at active status.
Transition (shift): Condition to transit to the next step.
Step (motion control step): The specified servo
program is executed at active status.
Transition (WAIT): Condition to transit to the next step.
END: Program end.
SET Y0=X0+X10
D100=W0+W100
Y0 M100
ABS-1
Axis1, D100
Speed 10000
!X0