Mitsubishi Electric Melsec Q Series Programming Manual page 530

APPENDICES
Program Automatic
No. Task
name operation
20 Main Normal
170 Stop Normal Not start
Program
150 Normal Not start
operation
(2) Contents of processing Motion SFC program
Motion SFC program list
Number of
connective
transitions
• 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.
Start 3 • 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 (PY) at the time of the forced stop.
(1) When a stop input signal (PX5) 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.
3 (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.
(1) The following motion control is executed.
1) This program stands by until PX4 is turned on.
2) 1 axis and 2 axes are located in (0,0) in the linear interpolation control
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
3
6) Positioning completion signal on of 1 axis and 2 axes are confirmed.
7) This program stands by until PX4 is turned off.
(2) When a positioning completion signal of the above (1) 3) and 6) is off, it
waits to turn off, and (When a positioning was suspended on the way.)
execute the motion control step (1) 2) or 5) again.
(3) Until an internal relay (M100) for the stop turns it on, it does not move to
the next step of the above (1) 1) and 7).
Contents of processing
(absolute 2 axes positioning).
control (absolute 2 axes positioning).
APP - 39