Mitsubishi Electric R16MTCPU Programming Manual page 289

■Points
• Multiple events can be set to one Motion SFC program. However, multiple fixed cycles cannot be set.
• Multiple Motion SFC programs can be executed by one event.
• Motion control steps cannot be executed during the event task.
• The event task cannot be executed when it is disabled by the normal task. The event that occurred during event task
disable is executed the moment the event task is enabled.
■Errors
When the motion control step is executed by the Motion SFC program set to the event task, the minor error (SFC) (error code:
33FDH) occurs and stops the Motion SFC program running.
NMI task operation
■Operations
The Motion SFC program is executed when the input set to the NMI task factor among external interrupts (16 points interrupt
pointer (I0 to I15) assigned to the Motion CPU controlled input module) turns on.
• Number of consecutive transitions is set to "2".
SFCS
Sequence program
External interrupts
NMI task
END operation: End
END operation: Continue
Do not execute a
program before the
NMI task starting.
*: When making it
always execute,
set as automatic
start.
■Points
• NMI task has the highest priority among the normal, event and NMI tasks.
• If the event task is disabled (DI) by the normal task, the interruption of the NMI task is executed, without being masked.
• When parallel branching during NMI task execution, the additional route from the branch starts execution from the next
interrupt occurrence.
■Errors
The motion control step is executed during NMI task. If the motion control step is executed during NMI task, the minor error
(SFC) (error code: 33FDH) occurs and stops the Motion SFC program.
Program name
(1)
F20
F1
F2
(2)
F3
F4
(3)
END
(1) (2) (3)
(1) (2) (3)
Execute the number of When END operation is set as
consecutive transition for continuation, continuation
every NMI task occurrence. operation is executed.
When stopping, it is make to
execute CLR by other programs.
(1) (2)
6 OPERATION FOR MOTION SFC AND PARAMETER
6.2 Number of Consecutive Transitions and Task Operation
6
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