Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 192

11 Language Specifications
* Additional axes decelerate to a stop in the same manner as that for Stop type 2 (S),
* If stopped with a Force sense stop (F), force sense control is disabled (including servo
* Use upper case alphabet characters for the <Type>.
[Example]
1 Def Act 1,M_In(17)=1 GoSub *L100
2 Def Act 2,MFG1 And MFG2 GoTo *L200
3 Def Act 3,M_Timer(1)>10500 GoSub *LBL ' Jumps to *LBL (step No. 30) sub-routine after 10.5 seconds
:
10 *L100:M_Timer(1)=0
11 Act 3=1
12 Return 0
:
20 *L200:Mov P_Safe
21 End
:
30 *LBL
31 M_Timer(1)=0
32 Act 3=0
32 Return 0
[Description]
(10) Describes a Return command at the end of the jump destination processing called with the interrupt.
(11) If returned to the next step from interrupt processing with Return 1, prohibit interrupts in the interrupt
processing. If interrupts are not prohibited and interrupt conditions are left established, interrupt processing
is performed again before returning to the next step, and therefore there are times when steps are skipped
without being executed.
(12) The interrupt priority sequence is fixed with the <Priority No.>, and the priority rises in the order 1 to 8 as the
number increases.
(13) Up to 8 interrupts can be set simultaneously, and are distinguished by <Priority No.>.
(14) Only a simple <Logic operator> or <Comparison operator> can be used for <Format>. Parentheses
(operator) cannot be used either.
(15) If a Def Act command for the same priority No. is described, the latter defined command is enabled.
(16) The Def Act command is used only to define interrupts, and therefore interrupt permission/prohibition should
be specified with the Act command.
(17) Priority for communication interrupts (Com) is even higher than for interrupts defined with the Def Act
command.
(18) The Def Act command is only valid within the defined program. If using interrupt processing in programs
(sub-programs) called with the CallP command (call between programs), it is necessary to redefine
processing at the sub-program.
(19) If an interrupt occurs when a GoTo command is specified in <Processing> with the Def Act command,
interrupts being processed while executing subsequent programs are left as is, and only interrupts with high
priority are received. Processing of interrupts with the GoTo command is cancelled by executing the End
command.
11-180 Other Related Commands
regardless of whether force sense control is enabled or disabled.
OFF), or position offset with force sense control is fixed at the stopped status until the
interrupt is prohibited with "Act <Priority No.>=0".
If lower case alphabet characters are used, an error occurs when registering. (Error
L.4220)
' When the input signal for general purpose input signal No. 17
turns ON,
' this defines that the *L100 (step No. 10) sub-routine
' is called.
' If logical products MFG1 and MFG2 become true,
' this defines a jump to *L200 (step No. 20).
' has elapsed.
' Sets the timer to zero.
' Enables Act 3.
' Returns the timer to zero.
' Disables Act 3.