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6 MOTION SFC PROGRAMS
6.5 Steps
6.5.1 Motion control step
Name Symbol Function
Motion control step
Kn
Starts the servo program Kn.
Specified range: K0 to K4095
[Operations]
(1) Turns on the start accept flag of the axis specified with the specified servo program
Kn (n = 0 to 4095) runnnig.
(2) Starts the specified servo program Kn (n = 0 to 4095).
Execution timing
Completion of transition condition
Start accept flag (M200n)
v
t
[Errors]
(1) When the specified servo program Kn does not exist, the Motion SFC program
error [16200] will occur and stops to execute the Motion SFC program at the error
detection.
[Instructions]
(1) When the current value change is executed in the Motion SFC program running,
specify the CHGA instruction in the servo program and call it at the motion control
step.
(2) If the servo program has stopped due to a major/minor error which occurred at or
during a start of the servo program specified with the motion control step, the
Motion SFC program continues executing. When the Motion SFC program is
stopped at error detection, provide an error detection condition at the transition
(transition condition).