Mitsubishi Electric Q173CPU Programming Manual page 462

APPENDICES
No. Program name
20 Main
Restart
160
continuation
(2) Contents of processing the Motion SFC program
Motion SFC program list
Number of
Automatic
Task
connective
operation
transitions
Normal Start 3
Normal Not start 3
Contents of processing
• This program starts automatically at the time of RUN of
Q173CPU(N), and it is always executed.
• Watch data is taken out, and clock data read request (M9028) is
turned on.
• "0" is set on the continuation point (#100 : user device) as an
initial value.
• The subroutine starts a "No.160 : Re-start continuation" after all
axes servo are turned on and servo on of 1 axis and 2 axes is
confirmed when a forced stop is released.
• "No.160 : Re-start continuation" is stopped at the time of the
forced stop, and actual output (PY) is turned off.
(1) This program jumps corresponding to the value of the
continuation point (#100) of the following (2) 1) to 9).
#100 Jump destination
0 Following (2) 1)
10 Following (2) 3)
20 Following (2) 5)
30 Following (2) 8)
(2) The following motion control is executed.
1) This program stands by until PX4 is turned on.
2) "10" is set on continuation point (#100).
3) 1 axis, 2 axes are located in (0,0) in the linear control
(absolute 2 axes positioning).
4) Positioning completion signal on of 1 axis, 2 axes is
confirmed, and "20" is set on the continuation point (#100).
5) In-position on of 1 axis and 2 axes is confirmed.
6) 1 axis, 2 axes are located in (1000000, 2000000) in the
linear control (absolute 2 axes positioning).
7) Positioning completion signal on of 1 axis, 2 axes is
confirmed, and "30" is set on the continuation point (#100).
8) This program stands by until PX4 is turned off.
9) "0" is set on continuation point (#100).
APP - 25