Mitsubishi Electric MELSEC iQ-R Series User Manual page 601

Changing the execution type
To change the program execution type while PLC READY [Y0] is ON, use the program control command shown below.
• Program scan execution registration (PSCAN)
• Program standby (PSTOP)
Initial execution type
PSTOP instruction PSTOP instruction
Standby execution type
■Timing for changing the execution type
The timing for changing the execution type is shown below.
Execution type
Initial
Normal
Fixed scan
Standby
Ex.
When there are 2 fixed scan execution type programs and PSCAN instruction is executed for program 1.
Priority
High
Execution type change processing
Program 1 execution processing
Program 2 execution processing
Normal program execution processing
Low
Ex.
When there are 2 normal execution type programs and PSTOP instruction is executed for program 2.
Priority
High
Execution type change processing
Operation cycle processing
Program 1 execution processing
Program 2 execution processing
Low
PSCAN instruction
Normal execution type
PSCAN instruction
Fixed scan execution type
PSTOP instruction
Executed instruction
PSCAN
Changes to normal execution type.
No operation.
Changes to normal execution type after program END
processing completes.
Changes to normal execution type.
1.0[ms]
PSCAN instruction execution
Operation cycle processing execution cycle
PSTOP instruction
execution processing completes
PSCAN instruction
PSTOP
Changes to standby type after program END processing
completes.
No operation.
Changed to normal task processing
Time
Maintained until
Appendix 2 Motion Module Programs
Time
APPX
A
599