Mitsubishi Electric MR-MQ100, User Manual

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10 MOTION SFC PROGRAMS
Table of the operation control/transition instruction (continued)
Usable step
Classification Symbol Function Format Basic steps
F/FS G
Y/N
transition's
conditional
expression
(None) Logical acknowledgment (Conditional expression) 0
! Logical negation !(Conditional expression) 2
* Logical AND
(Conditional expression) *
(conditional expression)
4
Logical operation
+ Logical OR
(Conditional expression) +
(conditional expression)
4
== Equal to
(Conditional expression) ==
(conditional expression)
4
!= Not equal to
(Conditional expression) !=
(conditional expression)
4
< Less than
(Conditional expression) <
(conditional expression)
4
<= Less than or equal to
(Conditional expression) <=
(conditional expression)
4
> More than
(Conditional expression) >
(conditional expression)
4
Comparison
operation
>= More than or equal to
(Conditional expression) >=
(conditional expression)
4
CHGV Speed change request CHGV((S1),(S2)) 4 —
Motion dedicated
function
CHGT Torque limit value change request CHGT((S1),(S2)) 4 —
EI Event task enable EI 1 —
DI Event task disable DI 1 —
NOP No operation NOP 1 —
BMOV Block transfer BMOV(D),(S),(n) 6 —
FMOV Same data block transfer FMOV(D),(S),(n) 6 —
MULTW
Write device data to CPU shared memory
of the self CPU
MULTW(D),(S),(n),(D1) 8 —
MULTR
Read device data from CPU shared
memory of the other CPU
MULTR(D),(S1),(S2),(n) 7 —
TO
Write device data to intelligent function
module.
TO(D1),(D2),(S),(n) 7 —
FROM
Read device data from intelligent function
module.
FROM(D),(S1),(S2),(n) 7 —
Others
TIME Time to wait TIME(S) 7 — —
CAUTION
If an unavailable "Operation control" or "Transition instruction" is set, a "Motion SFC program
start error" will occur.
(3) Rough calculation expression of single program for operation
control/transition program
2 + (1 + Total number of basic steps in 1 block
+ Number of 32-bit constants/1 block 1
+ Number of 64-bit constants/1 block

3)

Number of blocks (steps)
(1 step = 2 bytes)