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9 MOTION SFC PARAMETER
9. MOTION SFC PARAMETER
Two different Motion SFC parameters are available: "task parameters" designed to
control the tasks (normal task, event task, NMI task) and "program parameters" to be
set per Motion SFC program.
Their details are shown below.
9.1 Task Definitions
When to execute the Motion SFC program processing can be set only once in the
program parameter per program.
Roughly classified, there are the following three different tasks.
Task type
Normal task
Event task
NMI task
Executes in motion main cycle (free time).
1. Executes in fixed cycle (0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms).
2. Executes when the input set to the event task factor among external
interrupts (16 points of QI60) turns on.
3. Executes by an interrupt from the PLC CPU.
Executes when the input set to the NMI task factor among external
interrupts (16 points of QI60) turns on.
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