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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) The speed change is executed of the axis specified with (S1) during positioning or
JOG operating.
(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).CHGV 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 speed changing 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).CHGV instruction
OFF
ON
OFF
OFF
OFF
1 scan
PLC program
Instruction accept
completion at the
Motion CPU side
END
END
END
END
Speed change
Instruction start
accept complete device
(D1+0)
Speed changing flag
OFF
ON
To self CPU high speed interrupt
accept flag from CPUn
S(P).CHGV execution
Speed change processing
ON : Abnormal completion only