Mitsubishi Electric Q173CPU Programming Manual page 454

APPENDICES
Main
[F20]
SET M9028 //Clock data read request ON
[G20]
M9076 //Did you during the forced
//stop?
Motion control
[G21]
!M9076 //Did you release the
//forced stop?
CLR
Motion control
[F25]
DOUT PY10,H0000 //PY10 to PY1F
(16points)OFF
Motion control
[F110]
SET M2042 //All axes servo ON
//command ON
P0
[G105]
M2415*M2435 //Is 1 axis and
//2 axis servo on/off status ON?
[G110]
!PX2*!PX1
JOG
[G115]
//Wait a subroutine call completion
NOP
P0
(b) No.20 : Main
P0
When a forced stop is released, a
subroutine starts "No.110 : Motion
control". (Because the next step is a
shift, it becomes a subroutine start, and
the next step is executed at the same
time with subroutine practice, too.)
"No.110 : Motion control" is made to
stop at the time of the forced stop,
and (The program that a subroutine call
is executed from No.110 stops, too.)
actual output (PY) is turned off.
(Note-1) : The program that a subroutine
(Note-2) : Real output is turned off if
(Note-3) : The occurrence detection of
P0
(c) No.110 : Motion control
[G111]
!PX2*PX1
Manual pulse generator
The subroutine call of the following program is executed corresponding to the status of
PX1, PX2.
Selective branch is made the program so that each subroutine may never start it in the
plural at the same time.
And, each subroutine makes the next step "WAIT" to become a subroutine call to
make it stop when this program is suspended by the clear step of "No.20 : Main", too.
was started is made to stop if
necessary when a subroutine
start program is added
because it does not stop.
necessary.
servo error and so on is added
to the stop status with forced
stop if necessary.
[G112]
PX2*!PX1
Home position return
Condition of
Subroutine call program
PX1, PX2
Program name
PX2 PX1 No.
OFF OFF 120
Manual pulse generator
OFF ON 130
Home position return
ON OFF 140
Programming operation
ON ON 150
APP - 17
When a forced stop is released, it is
the structure which starts the program
which does motion control from the
initials again by sample program.
Therefore it is the system example
that motion control is resumed when
a forced stop release is executed
after it stops forced for while.
[G113]
PX2*PX1
Programming operation
JOG