Mitsubishi Electric R16MTCPU Programming Manual page 298

Execute task
■Description
Set the timing (task) to execute a program. Specify whether the program will be run by only one of the "normal task (main
cycle), event task (fixed cycle, external interrupt, PLC interrupt) and NMI task (external interrupt)".
When the event task is set, multiple events among the "fixed cycle, external interrupt (for event task) and PLC interrupt".
However, multiple fixed cycles cannot be set toward one Motion SFC program.
Ex.
Interrupt setting: Inputs for event task I6, I7, I8, I9, I10, I11, I12, I13, I14 and I15
Motion SFC program No.10  event: Fixed cycle (3.555ms)
Motion SFC program No.20  event: Fixed cycle (1.777ms) + external interrupt (I6)
Motion SFC program No.30  event: External interrupts (I7, I15) + PLC CPU interrupt
When the NMI task is set, multiple interrupt inputs among the external interrupts (for NMI task) can be set.
Ex.
Interrupt setting: Inputs for NMI task I0, I1, I2, I3, I4, I5
Motion SFC program No.10  NMI: I0
Motion SFC program No.20  NMI: I1 + I2
Motion SFC program No.30  NMI: I5
■Errors
This program parameter is imported at leading edge of "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)", and is checked at
starting of the Motion SFC program (automatic start, start from PLC or subroutine start). When the value is illegal, a moderate
error (error code: 2220H) will occur and it is controlled with initial value.
• Since the execute task can be set for every Motion SFC program No., multiple programs need not be written
for single control (machine operation) to divide execution timing-based processing's. It can be achieved
easily by subroutine starting the areas to be run in fixed cycle and to be run by external interrupt partially in
the Motion SFC program run by the normal task.
• Set a larger fixed cycle than the motion operation cycle after confirming the "Motion operation cycle
(SD522)" for the cycle of the event task of the fixed cycle.
Number of consecutive transitions
■Description
Set the number of consecutive transitions to program executed by the event or NMI task for every program.
Refer to the number of consecutive transitions for number of consecutive transitions. (Page 292 Number of consecutive
transitions)
■Errors
This program parameter is imported at leading edge of "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)", and is checked at
starting of the Motion SFC program (automatic start, start from PLC or subroutine start). When the value is illegal, a moderate
error (error code: 2220H) will occur and it is controlled with initial value.
6 OPERATION FOR MOTION SFC AND PARAMETER
296
6.9 Program Parameters