Mitsubishi Electronics Q173CPU(N) ユーザーズマニュアル
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5 MOTION DEDICATED PLC INSTRUCTION
5. MOTION DEDICATED PLC INSTRUCTION
5.1 Motion Dedicated PLC Instruction
(1) The Motion dedicated PLC instruction which can be executed toward the Motion
CPU which installed a SV13/SV22 operating system software for the Motion SFC
is shown below.
is shown below.
Instruction 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).DDWR
Write from the PLC CPU to the Motion CPU
S(P).DDRD
Reads from the devices of the Motion CPU
S(P).GINT
Execute request of an event task of Motion SFC program
(Note) : As for the details of each instruction, it explains after the next section.
5.1.1 Restriction item of the Motion dedicated PLC instruction
(1) To self CPU high speed interrupt accept flag from CPUn.
Common precautions of the Motion dedicated PLC instruction as shown below.
(a) To self CPU high speed interrupt accept flag from CPUn is shown in the
following table.
To self CPU high speed interrupt accept flag from CPUn is "No operation"
even if the instruction is executed when it is cannot be accepted.
When the Motion dedicated PLC instruction is accepted in the Motion CPU,
to self CPU high speed interrupt accept flag from CPUn of the self CPU
(Motion CPU) shared CPU memory cannot be accepted and
processing toward the instruction for requirement.
When processing is completed and it becomes the condition that it has an
instruction accepted, to self CPU high speed interrupt accept flag from
CPUn can be accepted.
To self CPU high speed interrupt accept flag from CPUn is "No operation"
even if the instruction is executed when it is cannot be accepted.
When the Motion dedicated PLC instruction is accepted in the Motion CPU,
to self CPU high speed interrupt accept flag from CPUn of the self CPU
(Motion CPU) shared CPU memory cannot be accepted and
processing toward the instruction for requirement.
When processing is completed and it becomes the condition that it has an
instruction accepted, to self CPU high speed interrupt accept flag from
CPUn can be accepted.
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