Mitsubishi Electronics Q173CPU(N) ユーザーズマニュアル

 
 

 

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3   COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN 

THE MULTIPLE CPU SYSTEM 

 

3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated 

instructions) 

Control can be instructed from the PLC CPU to the Motion CPU using the Motion 
dedicated PLC instructions listed in the table below.  
Refer to Chapter "5 MOTION DEDICATED PLC INSTRUCTIONS" for the details of 
each instruction.  
(Control may not be instructed from the Motion CPU to another Motion CPU.) 

 

Instruction name 

Description 

S(P).SFCS 

Start request of the Motion SFC program (Program No. may be specified.) 

S(P).SVST 

Start request of the specified servo program 

S(P).CHGA 

Current value change request of the specified axis 

S(P).CHGV 

Speed change request of the specified axis 

S(P).CHGT 

Torque control value change request of the specified axis 

S(P).GINT 

Execute request of an event task to the other CPU (Motion CPU) 

 

By using the S(P). SFCS instruction of the Motion dedicated instruction, the Motion 
SFC of the Motion CPU from the PLC CPU can be started. 

 

<Example> 

 

PLC CPU

Motion CPU

Motion SFC

S(P). SFCS instruction

Start request

 

 
 

POINT 

 

One PLC CPU can execute a total of up to 32 "Motion dedicated instructions" and 
"dedicated instructions excluding the S(P). GINT" simultaneously. 
When Motion dedicated instructions and dedicated instructions excluding the "S(P). 
GINT" are executed simultaneously, the instructions will be processed in the order 
received. 
If the command which has not completed processing becomes 33 or more, an 
OPERATION ERROR (error code: 4107) will be occurred.