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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
Positioning execute command
SP
.SFCS
H3E3 K15
Motion SFC program No.15
Target CPU
PLC CPU
PLC program . . . . . . . . .
<Example> S(P).SFCS instruction
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.
Start request of the
Motion SFC program
Create using a peripheral device
(Note-1)
M0 D0
Complete device
Device which stores the
complete status
Start request of the
Motion SFC program
(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.