Mitsubishi Electric R16MTCPU Programming Manual page 339

■No.20: Main
Main
P0
[G20]
SM502 //Did you release a forced
//stop?
Motion control
[G21]
!SM502 //Forced stop?
CLR Motion control
[F25]
DOUT Y10,H0000 //Y10 to Y1F
//(16points)OFF
P0
■No.110: Motion control
Motion control
[F110]
SET M2042 //All axes servo ON
//command ON
P0
[G105]
M2415*M2435 //Is 1 axis and
//2 axis servo on/off status ON?
[G110]
!X2*!X1
JOG
[G115]
//Wait a subroutine call completion
NOP
P0
When a forced stop is released, a
subroutine starts "No.110: Motion
control". (Because the next step is a
shift, it becomes a subroutine start, and
the next step is executed at the same
time with subroutine practice, too.)
"No.110: Motion control" is made to
stop at the time of the forced stop,
and (The program that a subroutine call
is executed from No.110 stops, too.)
actual output (Y) is turned off.
*: The program that a subroutine was
started is made to stop if necessary
when a subroutine start program is
added because it does not stop.
*: Real output is turned off if necessary.
*: The occurrence detection of servo error
and so on is added to the stop status
with forced stop if necessary.
[G111]
!X2*X1
Manual pulse generator
The subroutine call of the following program is executed corresponding to the status of X1, X2.
Selective branch is made the program so that each subroutine may never start it in the plural at
the same time.
And, each subroutine makes the next step "WAIT" to become a subroutine call to make it stop
when this program is suspended by the clear step of "No.20: Main", too.
Condition of X1, X2
X2 X1
OFF OFF 120
OFF ON 130
ON OFF 140
ON ON 150
When a forced stop is released, it is
the structure which starts the program
which does motion control from the
initials again by sample program.
Therefore it is the system example
that motion control is resumed when
a forced stop release is executed
after it stops forced for a while.
[G112]
X2*!X1
Home position return
Subroutine call program
No. Program name
JOG
Manual pulse generator
Home position return
Programming operation
[G113]
X2*X1
Programming operation
APPENDICES APPENDIX
Appendix 2 Sample Program
A
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