Mitsubishi Electric R16MTCPU Programming Manual page 338

Contents processing of the Motion SFC program
■Motion SFC program list
No. Program Task
name
20 Main Normal
110 Motion Normal
control
120 JOG Normal
130 Manual pulse Normal
generator
140 Home Normal
position
return
150 Programming Normal
operation
APPENDICES APPENDIX
336
Appendix 2 Sample Program
Automatic Number of Contents of processing
operation connective
transitions
Start 3 • This program starts automatically at the time of run of Motion CPU, and it is always
• When a forced stop is cancelled, a subroutine starts a "No.110: Motion control".
• "No.110: Motion control" is stopped at the time of the forced stop, and real output (Y) is
Not start 3 • All axes servo on.
• The call of the subroutine of the following program is executed by the condition of X1,
(1) X2: OFF X1: OFF No.120: JOG
(2) X2: OFF X1: ON No.130: Manual pulse generator
(3) X2: ON X1: OFF No.140: Home position return
(4) X2: ON X1: ON No.150: Programming operation
Not start 3 • The JOG operation speed of 1 axis and 2 axes is set.
• 1 axis JOG forward command is turned on when X3 is on, and the reverse command is
• 2 axes JOG forward command is turned on when X5 is on, and the reverse command
• The above are repeated when X2/X1 are off, when X2/X1 are not off, the JOG forward
Not start 3 • 1 pulse input magnification of the 1 axis and 2 axes is set up.
• 1 axis is controlled with P1, and set up to control 2 axes with P2, and Manual pulse
• When except for X2: OFF, X1: ON (Manual pulse generator mode), Manual pulse
Not start 3 • "K140: The home position return of 1 axis" is started when X3 is on,"K141: The home
• X2: ON, X1: The program is ended when they become to except for off (Home position
Not start 3 • When X3 detects OFF to ON, after positioning of 1 axis, standing by for 1000[ms] and
• When X4 turn on, after positioning of linear interpolation in-position check is executed,
• X2: ON, X1: The program is ended when they become to except for ON (Programming
executed.
turned off.
X2.
turned on when X4 is on.
is turned on when X6 is on.
and reverse command of 1 axis and 2 axes are turned off and the program is ended.
generator enable flag of P1, P2 is turned on.
generator enable flag of P1, P2 is turned off, and a program is ended.
position return of 2 axes" is started when X4 is on.
return mode).
positioning of 2 axes is executed.
positioning of axis No.1, 2 linear interpolation is executed at a double speed in the
opposition direction, and it stand by until X4 turned off.
operation mode).