Mitsubishi Electric MELSEC iQ-R Series User Manual page 599

Motion module

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A warning or error does not occur even if the processing time is exceeded.

Check the processing time on the execution time monitor.

In some cases, the operation load of fixed scan operation type programs can cause an operation cycle over to

■Standby execution type

The program is executed at execution request.

The program is converted to a normal execution type program and then executed by using a PSCAN instruction from another

running program.

Flow of program execution

The flow of execution for each program is shown below.

■Processing for initial execution type programs when PLC READY [Y0] is ON

The timing chart for processing that is executed when PLC READY [Y0] is ON is shown below.

Processing for initial execution type programs is interrupted by operation cycle processing.

Operation cycle processing

Initialization processing at RUN

Initial execution type program 1

Initial execution type program 2

When the PLC READY [Y0] is turned from OFF to ON

Fixed scan type programs are not executed until the processing for initial execution type programs completes,

even if an EI instruction is issued during an initial execution type program.

Operation cycle processing execution cycle

Appendix 2 Motion Module Programs

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