Chapter 6 Operation For Motion Sfc And Parameter; Task Definitions; Number Of Consecutive Transitions And Task Operation; Number Of Consecutive Transitions - Mitsubishi Electric R16MTCPU Programming Manual

6
OPERATION FOR MOTION SFC AND
PARAMETER
6.1

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
• Fixed cycle event task operates regardless of the operation cycle setting.
(Example)
When operation cycle is set to 0.888ms, a 0.222ms fixed cycle event task is executed.
• Set the interrupt pointer (I0 to I15) in the module detailed settings of the Motion CPU controlled input
module displayed by the "Detailed" button in [R Series Common Parameter]  [Module Configuration List]
 "Setting Item"
6.2
Number of Consecutive Transitions and Task
Operation

Number of consecutive transitions

With "execution of active step  judgment of next transition condition  transition processing performed when condition
enables (transition of active step)" defined as a single basic operation of the Motion SFC program execution control in the
execution cycle of the corresponding task, this operation is performed for the number of active steps to terminate processing
once. And the same operation is processed continuously in the next cycle. In this case, the transition destination step is
executed in the next cycle when the transition condition enables.
Consecutive transition control indicates that transition destination steps are executed one after another in the same one
execution cycle when their transition conditions have enabled (single basic operation is performed consecutively). In this
case, set the number of consecutive transitions. Control exercised is common to the Motion SFC programs executed by
normal tasks.
Set the number of consecutive transitions to the Motion SFC programs executed by event and NMI tasks for
every program.
6 OPERATION FOR MOTION SFC AND PARAMETER
284
6.1 Task Definitions
Contents
Executes in Motion CPU main cycle (free time).
• Executes in fixed cycle (0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms, 7.111ms, 14.222ms).
• Executes when the input set to the event task factor among external interrupts (16 points of interrupt pointer (I0 to
I15)) turns on.
• Executes by an interrupt from the PLC CPU.
Executes when the input set to the NMI task factor among external interrupts (16 points of interrupt pointer (I0 to I15))
turns on.