Mitsubishi Electric Melsec Q Series Programming Manual page 189

3 MOTION DEDICATED PLC INSTRUCTION
(3) Execution of Motion dedicated PLC instruction
(a) Motion dedicated PLC instruction can be executed with a fixed cycle execute
type program and interrupt program. However, the complete device is a
pulse-type. If the complete device (M100 in below example) is set, it may not
be recognized during the PLC scan. Therefore, the sequence program
should scan for completion of the device and use a set bit to execute the
Motion instruction string.
M10
M100
Complete
device
(b) The below devices cannot be used as program file registers or local devices.
• Each instruction's complete device and complete status
• D1 of D(P).DDRD instruction (First device of the self CPU where the
reading data is stored.)
(c) When using the Motion dedicated function of the operation control step
(Fn/FSn) and servo program (Kn) in Motion CPU, it is necessary to create a
user-defined interlock using WAIT transition (Gn) as shown below.
M101
M101
Gn
Kn
Gn
3 - 78
DP.SVST H3E1 "J1" K11 M100 D100
Normal complete program
Abnormal complete program