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11 MOTION SFC PARAMETER
11.2.2 Task operation
(1) Normal task operation
[Operations]
The Motion SFC program is executed in the main cycle (free time) of the Motion
CPU processing.
1)
2)
F20
F1
F2
F3
END
F30
F5
F6
F7
F8
END
Program 2Program 1
Program name
SFCS1
PLC program
Main cycle
1)
SFCS2
Normal task is ended with END.
(No continuation operation)
When making it operate
continuously, it returns to
starting step in a jump.
Normal task
Program name
A)
B)
C)
Main cycle
Main cycle
A) 2) B)
C)
[Points]
(a) The Motion SFC program which includes motion control steps should be set
to a normal task.
(b) During execution of an event or NMI task, the execution of the normal task
is suspended.
Note that since the normal task allows the event task disable instruction
(DI) to be described in an operation control step, the event task can be
disabled in the area enclosed by the event task disable instruction (DI) and
event task enable instruction (EI).