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11 MOTION SFC PARAMETER
(4) END operation
[Description]
Set the operation at execution of the END step toward the program executed
by the event or NMI task.
This varies the specifications for the following items.
• Program run by NMI task
No. Item When "ended" When "continued"
1
Control at END
execution
Ends the self program. Ends to execute the self program with this event/interrupt.
2
Restart after
END
execution
Again, the program is started by the Motion SFC
start instruction ( S(P).SFCS
) from the PLC or
by a subroutine call/start (GSUB) made from the
Motion SFC program.
Restarted at occurrence of the next event/interrupt, and run
from the initial (first) step in accordance with the number of
consecutive transitions of the corresponding program.
After that, at occurrence of an event/interrupt, the program is
executed in accordance with the number of consecutive
transitions of the corresponding program.
3
Restart after
end by clear step
CLR
Again, the program is started by the Motion SFC start instruction ( S(P).SFCS
) from the PLC or by a subroutine
call/start (GSUB) made from the Motion SFC program.
POINT
The END operation of subroutine called program is controlled as an "end".
• The following operation example assumes that the END operation is
"continued."
Program parameters
• Automatically started
• Execute task = event 3.55ms
• Number of consecutive transitions = 2
• End operation "continued"
1) After starting M2000, program is
executed at 3.55ms intervals
(first time) after event task
enable.
F20
F1
F2
F3
F4
END
Program name
2) Program is executed in
3.55ms cycle (second time).
3) Program is executed in
3.55ms cycle (third time).
4) Program is executed in 3.55ms
cycle (fourth time).
5) Program is executed in
3.55ms cycle (fifth time).
6) Program is executed in
3.55ms cycle (sixth time).