6.1 Transition Programs................................................................................................................................. 6- 1

7. MOTION CONTROL PROGRAMS

7.1 Servo Instruction List................................................................................................................................ 7- 1

7.2 Servomotor/Virtual Servomotor Shaft Current Value Change................................................................ 7-14

7.3 Synchronous Encoder Shaft Current Value Change Control (SV22 only)............................................. 7-17

7.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 only) ................................... 7-20

7.5 Programming Instructions........................................................................................................................ 7-22

7.5.1 Cancel • start ..................................................................................................................................... 7-22

7.5.2 Indirect designation using motion devices........................................................................................ 7-22

8. MOTION DEVICES

8.1 Motion Registers (#0 to #8191) ................................................................................................................ 8- 1

8.2 Coasting Timer (FT).................................................................................................................................. 8- 6

9. MOTION SFC PARAMETER

9.1 Task Definitions........................................................................................................................................ 9- 1

9.2 Number of Consecutive Transitions and Task Operation ...................................................................... 9- 2

9.2.1 Number of consecutive transitions ................................................................................................... 9- 2

9.2.2 Task operation................................................................................................................................... 9- 3

9.3 Execution Status of The Multiple Task .................................................................................................... 9- 7

9.4 Task Parameters...................................................................................................................................... 9- 8

9.5 Program Parameters................................................................................................................................ 9-10

9.6 How to Start The Motion SFC Program .................................................................................................. 9-16

9.6.1 Automatic start................................................................................................................................... 9-16

9.6.2 Start from the Motion SFC program ................................................................................................. 9-16

9.6.3 Start from PLC (PLC instruction S(P).SFCS )................................................................................ 9-16

9.7 How to End The Motion SFC Program.................................................................................................... 9-16

9.8 How to Change from One Motion SFC Program to Another .................................................................. 9-17

9.9 How to Manage The Executing Program ................................................................................................ 9-17

9.10 Operation Performed at CPU Power-Off or Reset.............................................................................. 9-17

9.11 Operation Performed when CPU is Switched from RUN/STOP .......................................................... 9-17

9.12 Operation Performed when PLC Ready Flag (M2000) Turns OFF/ON............................................... 9-18

9.13 Operation at The Error Occurrence....................................................................................................... 9-18

10. USER FILES

10.1 Projects................................................................................................................................................. 10- 1

10.2 User File List ........................................................................................................................................ 10- 2

10.3 Online Change in The Motion SFC Program ...................................................................................... 10- 3

10.3.1 Operating method for The Online Change................................................................................... 10- 4

10.3.2 Transfer of program ...................................................................................................................... 10- 7

A - 15

6- 1 to 6- 2

7- 1 to 7-22

8- 1 to 8- 6

9- 1 to 9-18

10- 1 to 10- 8

Table of Contents