2 POSITIONING CONTROL BY THE MOTION CPU

[Execution of the Motion SFC program start (S(P).SFCS instruction)]

Positioning control is executed by starting the Motion SFC program specified with S(P).SFCS instruction of the PLC CPU in the Motion CPU. (The Motion SFC program can also be started automatically by parameter setting.)

An overview of the starting method using the Motion SFC is shown below.

Multiple CPU control system

PLC CPU

PLC program . . . . . . . . .

Create using a peripheral device (Note-1)

<Example> S(P).SFCS instruction

Positioning execute command

SP.SFCS H3E3 K15 M0 D0

Device which stores the complete status

Complete device Motion SFC program No.15

Target CPU

Start request of the

Motion SFC program

Start request of the Motion SFC program

1) The Motion SFC program No. is set using the S(P).SFCS instruction in the PLC program.

2) When the S(P).SFCS instruction is executed, the program of the Motion SFC program No. specified with the Motion CPU is executed.

(1)Create the Motion SFC programs and positioning control parameters using a peripheral device.

(2)Perform the positioning start using the PLC program (S(P).SFCS instruction) of

PLC CPU.

(a)Motion SFC program No. is specified with the S(P).SFCS instruction.

1)Motion SFC program No. can be set either directly or indirectly.

(3)Perform the specified positioning control using the specified with Motion SFC program.

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