Mitsubishi Electric R16MTCPU Programming Manual page 304

Online change of the operation control/transition program
Online change of the operation control/transition program during edit is executed by selecting the [Convert] button. Online
change is possible to the operation control/transition program during execution. A program that the online change was made
is executed from the next scan.
Operations for which made the online change to the operation control/transition program during execution in the following
conditions are shown below. Be careful to execute the online change in the following conditions.
Program
FSn
Gn
or
FSn
Gn
Gn
or
Gn
Gn
or
Gn
Kn
Gn
7 MOTION SFC FUNCTIONS
302
7.1 Online Change in the Motion SFC Program
Condition
Online change of the FSn operation control program is
executed during FSn execution in the state of waiting for the
completion of condition for Gn.
Online change of the Gn program is executed in the state of
waiting for the completion of condition for Gn. (The conditional
sentences of program to write are except the TIME
instruction.)
Online change of the Gn program including the TIME
instruction is executed in the state of waiting for the completion
of condition for Gn.
Online change of the Gn program during the servo program
execution for Kn.
[Convert] button
Operation
After completion of online change, the FSn repeats the
operation control program that the online change was made
until the completion of condition for Gn.
After completion of online change, the Gn does not transit to
the next step until the completion of condition for program that
the online change was made.
After completion of online change, Gn is ended regardless of
the waiting time of TIME instruction and the next step is
executed.
After execution of servo program, the program of changed Gn
is executed.