Mitsubishi Electric MELSEC iQ-R Series User Manual page 600
Motion module
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- Programming manual (2110 pages) ,
- User manual (760 pages) ,
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■Processing at completion of initial execution type programs
The timing chart for each program that operates after initial execution type program processing has fully completed is shown
below.
The 3 kinds of fixed cycle processing (fixed scan execution type program 1, fixed scan execution type program 2, and
operation cycle processing) are performed with priority given to those with the shortest execution cycles.
Fixed scan execution type program 1
Operation cycle processing
Fixed scan execution type program 2
Normal execution type program
Programs of the same execution type/with the same execution cycle settings are executed in order starting
with those with the smallest execution order number.
The execution order can be checked with the engineering tool in "Program Execution Setting".
The execution type and execution cycle setting have higher priority than the execution order.
■Initialization processing at power ON
The following processing is performed during label initialization processing when the power turns from OFF to ON.
• Expansion of global label files, structure definition files, and FB definition files
• Configuration and setting of initial values for global labels
• Input of program settings
■Initialization processing at first RUN
The following processing is performed during first RUN initialization processing after the power turns from OFF to ON.
• Expansion of program files and configuration of program local labels.
• Checking of each parameter and program.
• Setting of initial values for labels/FB.
The time required to check parameter settings, programs, and files varies by volume and may cause a
delayed response from peripheral devices in some cases.
■Initialization processing at 2nd and subsequent RUN
Reinput of each file and label reconfiguration cannot be performed after the power turns from OFF to ON during the 2nd and
subsequent RUN. Only processing for the initial value setting is performed.
Refer to label initialization function for details of the initial values that are set. (Page 600 Label initialization function)
APPX
598
Appendix 2 Motion Module Programs
Priority
High
Fixed scan execution type program 1 execution cycle
Low
Fixed scan execution type program 2 execution cycle
Operation cycle processing execution cycle
Time
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