Task Operation - Mitsubishi Electric Melsec Q Series Programming Manual

9 OPERATION FOR MOTION SFC AND PARAMETER

9.2.2 Task operation

(1) Normal task operation
[Operations]
The Motion SFC program is executed in the main cycle (free time) of the Motion
CPU.
The processing outline is shown below.
• Number of consecutive transitions is set to "2".
SFCS1
Sequence program
Normal task
[Points]
(a) The Motion SFC program which includes motion control steps should be set
to a normal task.
(b) During execution of an event or NMI task, the execution of the normal task
is suspended.
Note that since the normal task allows the event task disable instruction
(DI) to be described in an operation control step, the event task can be
disabled in the area enclosed by the event task disable instruction (DI) and
event task enable instruction (EI).
Program 1 Program 2
Program name Program name
1)
F20
F1
F2
2)
F3
END
END
SFCS2
Main cycle
1) A)
Main cycle
C)
9 - 2
A)
F30
F5
F6
B)
F7
F8
C)
Main cycle
2) B)
Normal task is ended with END.
(No continuation operation)
When making it operate
continuously, it returns to
starting step in a jump.