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3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM 3- 1 to 3-26
3.1 Automatic Refresh Function of The Shared CPU Memory .................................................................... 3- 1
3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions) ................ 3-20
3.3 Reading/Writing Device Data .................................................................................................................. 3-21
3.4 Shared CPU Memory............................................................................................................................... 3-22
4. STRUCTURE OF THE MOTION CPU PROGRAM 4- 1 to 4- 4
4.1 Motion Control in SV13/SV22 Real Mode............................................................................................... 4- 2
4.2 Motion Control in SV22 Virtual Mode ...................................................................................................... 4- 3
5. MOTION DEDICATED PLC INSTRUCTION 5- 1 to 5-48
5.1 Motion Dedicated PLC Instruction........................................................................................................... 5- 1
5.1.1 Restriction item of the Motion dedicated PLC instruction................................................................ 5- 1
5.2 Motion SFC Start Request from The PLC CPU to The Motion CPU:
S(P).SFCS (PLC instruction:
S(P).SFCS
) ............................................................................................ 5- 9
5.3 Servo Program Start Request from The PLC CPU to The Motion CPU:
S(P).SVST (PLC instruction:
S(P).SVST
) ........................................................................................... 5-12
5.4 Current Value Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction:
S(P).CHGA
) ..........................................................................................5-17
5.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction:
S(P).CHGV
) ..........................................................................................5-30
5.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction:
S(P).CHGT
)........................................................................................... 5-34
5.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction:
S(P).DDWR
)............. 5-38
5.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction:
S(P).DDRD
) .................5-42
5.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction:
S(P).GINT
)..............................5-46
6. MOTION SFC PROGRAMS 6- 1 to 6-28
6.1 Motion SFC Program Configuration ........................................................................................................6- 1
6.2 Motion SFC Chart Symbol List ................................................................................................................ 6- 2
6.3 Branch and Coupling Chart List............................................................................................................... 6- 5
6.4 Motion SFC Program Name .................................................................................................................... 6- 9
6.5 Steps.........................................................................................................................................................6-10
6.5.1 Motion control step............................................................................................................................6-10
6.5.2 Operation control step.......................................................................................................................6-11
6.5.3 Subroutine call/start step................................................................................................................... 6-12
6.5.4 Clear step .......................................................................................................................................... 6-14
6.6 Transitions................................................................................................................................................ 6-15
6.7 Jump, Pointer ...........................................................................................................................................6-17
6.8 END ..........................................................................................................................................................6-17
6.9 Branches, Couplings................................................................................................................................ 6-18
6.9.1 Series transition................................................................................................................................. 6-18