Program Parameters - Mitsubishi Electric R16MTCPU Programming Manual

6.9

Program Parameters

Set the following parameters for every Motion SFC program.
Item Setting range
Start setting Automatically started or not
Execute task It is only one of normal, event and NMI tasks
When you have set the event task, further set the event which will be enabled.
Always set any one of the following 1 to 3.
• Fixed cycle: It is one of 0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms, 7.111ms and
14.222ms or nothing.
• External interrupt (make selection from those set to event task): Multiple interrupt can
be set from among I0, I1, I2, I3, I4, I5, I6, I7, I8, I9, I10, I11, I12, I13, I14 and I15.
• PLC interrupt: Multiple interrupt can be set from among I0, I1, I2, I3, I4, I5, I6, I7, I8, I9,
I10, I11, I12, I13, I14 and I15.
The above: Multiple setting is possible.
The same event can be shared among multiple Motion SFC programs.
When you have set the NMI task, further set the interrupt input which will be enabled.
• External interrupt (make selection from those set to NMI task): Multiple interrupt can be
set from among I0, I1, I2, I3, I4, I5, I6, I7, I8, I9, I10, I11, I12, I13, I14 and I15.
Number of 1 to 10
consecutive Set the number of consecutive transitions toward the program set to the event or NMI
transitions task.
END operation End/continue
Set the operation mode of the END step toward the program set to the event or NMI task.
Executing flag None/Bit device
Set the bit device turned ON while executing Motion SFC program.
*1 Refer to the following for the range of bit devices that can be set.
MELSEC iQ-R Motion Controller Programming Manual (Common)
The settings of "END operation" are invalid for the subroutine called program. "END operation" is controlled as
"end".
Start setting
■Description
The following control is changed by "automatically started or not" setting.
• Program run by normal task
Item When "automatically started"
Start control In the main cycle after "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" ON, the program is executed from the initial (first) step in
accordance with the number of consecutive transitions of the normal
task.
After that, the program is executed continuously by the number of consecutive transitions of the normal task in the Motion CPU main cycle.
(The settings of "executed task" and "number of consecutive transitions" of the subroutine called program are invalid. It is controlled as the
normal task.)
END control Ends the self program.
[END]
6 OPERATION FOR MOTION SFC AND PARAMETER
294
6.9 Program Parameters
Initial
value
Not
setting
Normal
task
None
1
End
None
*1
When "not automatically started"
The program is started by the Motion SFC start request (M(P).SFCS/
D(P).SFCS) from other CPU or by a subroutine call/start (GSUB)
made from the Motion SFC program.
• When started by the Motion SFC start request (M(P).SFCS/
D(P).SFCS): In the main cycle after execution of the Motion SFC
start request (M(P).SFCS/D(P).SFCS), the program is executed
from the initial (first) step in accordance with the number of
consecutive transitions of the normal task.
• When subroutine started: In the (next) main cycle after execution of
GSUB, the program is executed from the first step in accordance
with the number of consecutive transitions of the normal task.
• When subroutine called: The program is executed in the same
cycle from the first step.
Remark
These parameters are imported
at leading edge of "[Rq.1120]
PLC ready flag (R: M30000/Q:
M2000)" and used for control
there after.
When setting/changing the
values of these parameters, turn
"[Rq.1120] PLC ready flag (R:
M30000/Q: M2000)" off.