2 MULTIPLE CPU SYSTEM
2.3.6 Control Instruction from PLC CPU to Motion CPUControl can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below.
Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the details of each instruction.
(Control may not be instructed from one Motion CPU to another Motion CPU.)
Instruction name | Description | |
D(P).SFCS | Start request of the Motion SFC program (Program No. may be specified.) | |
D(P).SVST | Start request of the specified servo program | |
D(P).CHGA | Current value change request of the specified axis | |
D(P).CHGV | Speed change request of the specified axis | |
D(P).CHGT | Torque control value change request of the specified axis | |
D(P).GINT | Execute request of an event task to the other CPU (Motion CPU) | |
D(P).DDWR | Write device data of the self CPU (PLC CPU) to the device of other CPU | |
(Motion CPU) | ||
| ||
D(P).DDRD | Read device data of other CPU (Motion CPU) to the device of self CPU | |
(PLC CPU) | ||
|
For example, by using the D(P).SFCS instruction of Motion dedicated PLC instruction, the Motion SFC of the Motion CPU can be started from the PLC CPU.
<Example>
PLC CPU | Motion CPU | |||
|
|
| Start request | Motion SFC |
|
|
|
| |
| D(P). SFCS instruction |
|
|
|
|
|
| ||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
2 - 31