Mitsubishi Electric Melsec Q Series Programming Manual page 516

APPENDICES
No. Program name
20 Main
110 Motion control
120 JOG
Manual pulse
130
generator
Home position
140
return
Programming
150
operation
(2) Contents processing of the Motion SFC program
Motion SFC program list
Number of
Automatic
connective
Task
operation
transitions
Normal Start 3
Normal Not start 3
Normal Not start 3
Normal Not start 3
Normal Not start 3
Normal Not start 3
Contents of processing
• This program starts automatically at the time of run of Motion
CPU, and it is always executed.
• 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 (PY) is turned off.
• All axes servo on.
• The call of the subroutine of the following program is executed
by the condition of PX1, PX2.
1) PX2 : OFF PX1 : OFF
2) PX2 : OFF PX1 : ON
3) PX2 : ON PX1 : OFF
4) PX2 : ON PX1 : ON
• The JOG operation speed of 1 axis and 2 axes is set.
• 1 axis JOG forward command is turned on when PX3 is on, and
the reverse command is turned on when PX4 is on.
• 2 axes JOG forward command is turned on when PX5 is on,
and the reverse command is turned on when PX6 is on.
• The above are repeated when PX2/PX1 are off, when PX2/PX1
are not off, the JOG forward and reverse command of 1 axis
and 2 axes are turned off, and the program is ended.
• 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 generator enable flag of P1, P2 is turned
on.
• When except for PX2 : OFF, PX1 : ON (Manual pulse generator
mode), Manual pulse generator enable flag of P1, P2 is turned
off, and a program is ended.
• "K140 : The home position return of 1 axis" is started when PX3
is on,"K141 : The home position return of 2 axes" is started
when PX4 is on.
• PX2 : ON, PX1 : The program is ended when they become to
except for off (Home position return mode).
• When PX3 detects OFF to ON, after positioning of 1 axis,
standing by for 1000[ms] and positioning of 2 axes is executed.
• When PX4 turn on, after positioning of linear interpolation in-
position check 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 PX4 turned off.
• PX2 : ON, PX1 : The program is fended when they become to
except for ON (Programming operation mode).
APP - 25
No.120 : JOG
No.130 : Manual pulse generator
No.140 : Home position return
No.150 : Programming operation