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APP - 14
A
PPENDICES
(2) Contents processing of the Motion SFC program
Motion SFC program list
No. Program name Task
A
utomatic
operation
Number of
connective
transitions
Contents of processing
0
Positioning
device
Normal Start 3
• This program starts automatically at the time of run of
Q173CPU(N), and it is always executed.
• The positioning dedicated device (bit device) for monitor is
transferred to "W0 to".
• The positioning dedicated device (word device) for monitor is
transferred to "W100 to".
(Note) : "W0 to" is assigned to "M2400 to" of the PLC CPU (CPU
No.1), and "W100 to" is assigned to "D0 to" by the
automatic refresh setting.
20 Main Normal Start 3
• This program starts automatically at the time of run of
Q173CPU(N), and it is always executed.
• Watch data is taken out, and clock data read request (M9028)
is turned on.
• When a forced stop is canceled, 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.
110 Motion control Normal Not start 3
• 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 No.120 : JOG
2) PX2 : OFF PX1 : ON No.130 : Manual pulse generator
3) PX2 : ON PX1 : OFF No.140 : Home position return
4) PX2 : ON PX1 : ON No.150 : Programming operation
120 JOG Normal Not start 3
(1) The JOG operation speed of 1 axis and 2 axes is set.
(2) 1 axis JOG forward command is turned on when PX3 is on,
and the reverse command is turned on when PX4 is on.
(3) 2 axes JOG forward command is turned on when PX5 is on,
and the reverse command is turned on when PX6 is on.
(4) The above (2), (3) are repeated during PX2/PX1 is off, when
except for it, the JOG forward and reverse command of 1 axis
and 2 axes are turned off and the program is ended.
130
Manual pulse
generator
Normal Not start 3
• 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.