Motion Sfc Programs; Motion Sfc Program Configuration - Mitsubishi Electric Q173CPU Programming Manual

6 MOTION SFC PROGRAMS

6. MOTION SFC PROGRAMS
Refer to Chapter "19 ERROR CODE LISTS" for details of Motion SFC program error.

6.1 Motion SFC Program Configuration

The Motion SFC Program is constituted by the combination of start, steps, transitions,
end and others are shows below.
Positioning
Positioning
ready check
Positioning
Positioning
complete
check
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
(2) Whether the condition specified with the transition (G0) has enabled or not
(3) The operating completion of the step (K0) (positioning completion of the servo
(4) With the transition of the active step as described in above (1) to (3), control is
Refer to Section "11.2.2 Task operation" for details of the execution timing of the
Motion SFC program such as above.
The number of steps which can be active steps simultaneously is up to 256, with
those of all Motion SFC programs combined. Excess of 256 will result in the Motion
SFC Program error 16120.
Each symbol of the Motion SFC program is as follows.
Operation
Program
start START : Entry of program.
name
Step (operation control step) : The specified operation
F0
ready control program is executed at active status.
Transition (shift) : Condition to transit to the next step.
G0
Step (motion control step) : The specified servo
K0
execution
program is executed at active status.
Transition (WAIT) : Condition to transit to the next step.
G1
Operation
END END : Program end.
end
executed (positioning ready). A step in such an active state is called an active
step.
(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).
program K0) is checked, and control transits to the next step at operating
completion (completion of condition).
executed and ends at END.
POINT
F/FS : Operation control, K : Positioning control, G : Judgment
6 - 1
SET Y0=X0+X10
D100=W0+W100
Y0 M100
ABS-1
Axis1, D100
Speed 10000
!X0
6