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5 MOTION DEDICATED PLC INSTRUCTION
(d) Use a flag in the shared CPU memory which correspond with each
instruction not to execute multiple instructions to the same shaft of the
Motion CPU of same CPU No. for the inter-lock condition.
(Program example 1)
(e) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGVS(P).CHGT/S(P).DDWR/
S(P).DDRD instructions cannot be executed simultaneously. Therefore, it is
necessary to take an interlock by to self CPU high speed interrupt accept
flag from CPUn.
One PLC CPU can be executed max.32 Motion dedicated PLC instructions
simultaneously using to self CPU high speed interrupt accept flag from
CPUn. (Except S(P).GINT instruction.)
If 33 instructions or more are executed, the PLC CPU returns the
OPERATION ERROR [4107].
(f) When multiple Motion dedicated PLC instructions are directly executed
because one contact-point turns on, an instruction may not be executed.
In this case, create a program with reference to program example.
(Program example 2)
(g) When the Motion dedicated function of the operation control step (Fn/FSn)
and Motion control program (Kn) in Motion CPU. Since there is no flag which
can be distinguished on instruction execution in the PLC CPU, it is
necessary to taken an interlock by user program.
(Program example 3)
<Program example 1>
Program which executes multiple instructions to the same shaft of the Motion CPU of
same CPU No..
SP.CHGA K0 M3 D2H3E1
RST M2
M2
"J1"
M6
SP.CHGT
K250 M7 D6
H3E1
"J2"
RST M6
M0
K0
RST M0
SP.SVST K100 M10 D0H3E1 "J1J2"
K0
Start accept
flag of the Axis 1
(CPU No.2)
U3E1\G516.0
To self CPU high
speed interrupt
accept flag from
CPU1
U3E1\G48.0
Start accept
flag of the Axis 2
(CPU No.2)
U3E1\G516.1
To self CPU high
speed interrupt
accept flag from
CPU No.1
U3E1\G48.0
Start accept
flag of the Axis 1
(CPU No.2)
U3E1\G516.0
To self CPU high
speed interrupt
accept flag from
CPU No.1
U3E1\G48.0