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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.