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3 MOTION DEDICATED PLC INSTRUCTION
[Description]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
(2) Execute the home position return of axis (stopped axis) No. specified with (S1) .
(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).CHGA instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.
(4) It is necessary to take an inter-lock by the start accept flag of the shared CPU
memory so that multiple instructions may not be executed toward the same axis of
the same Motion CPU No..
[Operation]
State display device (D1+1)
at the instruction start
accept completion
t
ON
ON
S(P).CHGA instruction
OFF
ON
OFF
OFF
OFF
1 scan
PLC program
Instruction accept
completion at the
Motion CPU side
END
END
END
END
Home position return
Instruction start
accept complete device
(D1+0)
Start accept flag (axis)
OFF
ON
To self CPU high speed interrupt
accept flag from CPUn
Home position
return completion
S(P).CHGA execution
Home position return
ON : Abnormal completion only
(1) The start accept status of each axis can be confirmed with the start accept flag in
the shared CPU memory of target CPU.
(2) S(P).CHGA instruction accepting and normal/abnormal completion can be
confirmed with the complete device (D1) or status display device (D2) at the
completion.
(a) Complete device
It is turned on by the END processing of scan which the instruction
completed, and turned off by the next END processing.