Chapter 7 Motion Sfc Functions; Online Change In The Motion Sfc Program - Mitsubishi Electric R16MTCPU Programming Manual

7
MOTION SFC FUNCTIONS
7.1

Online Change in the Motion SFC Program

This function is used to write to the Motion SFC program to the built-in memory of the Motion CPU during the positioning
control (during "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" on). When program correction and check of operation is
executed repeatedly, is possible to change program without stopping operation of the Motion CPU. Also, because only the
changed part of the Motion SFC program is written, the writing time is short, and the time it takes to debug is shortened. Data
in which online change is possible are shown below.
: Possible, : Not possible
Applicable data
R Series Common Parameter
Motion CPU Common Parameter
Motion Control Parameter
Motion SFC program
Cam data
• Program writing is executed during the positioning control in the online change. Be safely careful enough for
work.
• When a Motion SFC program file, or servo program file is specified in a file transmission at boot that uses a
SD memory card, the intended program operation may not occur depending on if there is an online program
change file or not. Refer to the following for details.
MELSEC iQ-R Motion Controller Programming Manual (Common)
• If the online change is executed simultaneously to one Motion CPU from the multiple personal computers, a
program writing may not be executed. Please do not perform.
• If online changes are executed by another personal computer during the operation of the monitor mode of
the Motion SFC program, debug mode of the Motion SFC program, or test mode in MT Developer2,
injustice of a monitor value and operation failure may occur. Please do not perform.
• If the online change of Motion SFC chart added newly is executed, since the online change of Motion SFC
parameter cannot be executed, it operates as the normal task (default value).
• When performing an online change by changing the range of the command generation axis program in
"Program Allocation Setting" of the servo program editing screen, the changes are not reflected, and online
change is cancelled.
• If the cables between the personal computer and PLC CPU module fall out, or the power supply of the
Multiple CPU system turns OFF or resets, the program is corrupted. Write the program again by the data
writing of MT Developer2.
• The online change only writes when the program being operated by the Motion CPU and the MT
Developer2 project data (before change) match. Before writing perform a check, and when data does not
match, cancel the online change.
7 MOTION SFC FUNCTIONS
300
7.1 Online Change in the Motion SFC Program
Motion SFC parameter
Motion SFC chart
Operation control step (F/FS)
Transition (G)
Servo program (K)
Online change Remarks




 Online change is possible for the only program during stop.



Online change of mode assignment setting is not possible.
