Task And Interrupt Processing - Mitsubishi Electric R16MTCPU Programming Manual

6.10

Task and Interrupt Processing

In the Motion CPU, the required operations over a fixed cycle are divided into tasks. Depending on the Motion CPU internal
processing timing, the interrupt processing can affect tasks, therefore programs need to be designed with care.
Refer to the following for Motion CPU internal processing timing and corresponding processing time monitor devices.
MELSEC iQ-R Motion Controller Programming Manual (Common)
Interrupt Processing
In the Motion CPU, fixed-cycle system processing, Motion SFC fixed-cycle task, and Motion operation processing are
executed with priority over main cycle processing. Therefore, if "Motion setting operation cycle (SD523)" is exceeded in the
middle of main cycle processing, the main cycle processing is interrupted by the execution of the next Motion operation cycle
processing. Main cycle processing restarts when the interrupting Motion operation cycle processing is completed.
Because this interrupt processing is also executed in the middle of operations of the Motion SFC program, depending on the
program contents, the Motion SFC program may not execute correctly.
Operation example
Axis 1 of the Motion SFC program below moves to "350.00000[degree]0[degree]160.00000[degree]". When the axis 1
feed current value moves in the range of 120.00000 to 130.00000[degree], M100 is turned ON.
[F0]
RST M100
[K0]
ABS-1
Axis 1,
Speed
[G0]
NOP
[K1]
ABS-1
Axis 1,
Speed
[G1]
(D0L>=K12000000)*(D0L<=K13000000)
[F1]
SET M100
Feed current
value
36000000
D0L 18000000
13000000
12000000
0
M100
6 OPERATION FOR MOTION SFC AND PARAMETER
298
6.10 Task and Interrupt Processing
350.00000 degree
1000.000 degree/min
160.00000 degree
1000.000 degree/min
t