Mitsubishi Electronics 00UCPU Manuel D’Utilisation

160

Control directions can be issued from the QCPU to Motion CPU in a multiple CPU system by using the following 
motion dedicated instructions. (Control directions cannot be issued from the Motion CPU to another Motion CPU.)
For details on the motion dedicated instructions and their availabilities, refer to the manual for the motion CPU used.

: Available, ×: Not available

*1

To execute these instructions, the following restrictions on the version of the Motion CPU apply.
• Q172CPUN(-T), Q173CPUN(-T), Q172HCPU(-T), and Q173HCPU(-T): There is no restriction.
• Q172CPU: Version N or later
• Q173CPU: Version M or later

*2

To execute these instructions, use any of the following Motion CPUs.
• Q172DSCPU
• Q173DSCPU

*3

To execute these instructions, use any of the following Motion CPUs.
• Q172DSCPU (when version 00B or later of operating system software SW8DNC-SV22QL is used)
• Q173DSCPU (when version 00B or later of operating system software SW8DNC-SV22QJ is used)

S.SFCS,

SP.SFCS

Requests startup of the motion 
SFC program.

×

D.SFCS,

DP.SFCS

×

×

S.SVST

*1

,

SP.SVST

*1

Requests the start of the servo 
program.

×

D.SVST,

DP.SVST

×

×

S.CHGV

*1

,

SP.CHGV

*1

Changes the speed of the axes 
during positioning and JOG 
operations.

×

D.CHGV,

DP.CHGV

×

×

D.CHGVS

*3

,

DP.CHGVS

*3

Changes the speed of the 
command generation axes during 
positioning and JOG operations.

×

×

S.CHGT

*1

,

SP.CHGT

*1

Changes the torque control value 
during operation and suspension 
when in real mode.

×

D.CHGT,

DP.CHGT

×

×

D.CHGT2

*2

,

DP.CHGT2

*2

Individually changes the torque 
control value during operation and 
suspension.

×

×

S.CHGA

*1

,

SP.CHGA

*1

Changes the current values of the 
halted axes, the synchronized 
encoder, and the cam axes.

×

D.CHGA,

DP.CHGA

×

×

D.CHGAS

*3

,

DP.CHGAS

*3

Changes the current values of 
halted command generation axes.

×

×