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5 MOTION DEDICATED PLC INSTRUCTION
Program which executes the Motion dedicated function of the operation control step
(Fn/FSn) and the motion control program (Kn).
SP.DDRD
K4M0 K4M400
M31H3E1
M30
D300
SP.SVST K104 M22 D20H3E1
RST M34
M34
"J1"
M32
SET M34
RST M30
RST M32
M31
SET M32
MOV
K1 D301
M31
M401
PLC CPU side
Interlock condition on axis starting.
<Program example 3>
(Note) : 4 points worth of the data from "M0" of the CPU No.2 are stored after M400
by S(P).DDRD instruction.
(Note)
To self CPU high
speed interrupt
accept flag from
CPU1
U3E1\G48.0
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
[F200]
SET M1//Axis 1 positioning start
Start program
[F201]
RST M1 //Axis 1 positioning end
Completion
[K104: Real]
1 INC-1
Axis 1, 10000000 PLS
Speed 1000000 PLS/s
Motion CPU side
POINT
Access from the PLC CPU is processed before the communication processing of
the Motion CPU. Therefore, if the Motion dedicated PLC instruction is frequently
performed from the PLC CPU, the scan time of the PLC CPU is not only prolonged,
but delay will arise in the communication processing of the Motion CPU.
Perform execution of the Motion dedicated PLC instruction from the PLC CPU by
S(P).DDWR/S(P).DDRD/S(P).CHGV instruction etc. only at the time of necessity.