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5 MOTION DEDICATED PLC INSTRUCTION
[Operation]
State display device (D1+1)
at the instruction start
accept completion
t
ON
ON
S(P).CHGA instruction
OFF
ON
OFF
OFF
OFF
Current value change
1 scan
PLC program
Instruction accept
completion at the
Motion CPU side
END
END
END
END
Current value change
S(P).CHGA execution
Instruction start
accept complete device
(D1+0)
Start accept flag (axis)
OFF
ON
To self CPU high speed interrupt
accept flag from CPUn
ON : Abnormal completion only
(1) The start accept status of each axis can be confirmed with the start accept flag in
the shared CPU memory of target CPU.
(2) S(P).CHGA instruction accepting and normal/abnormal completion can be
confirmed with the complete device (D1) or status display device (D2) at the
completion.
(a) Complete device
It is turned on by the END processing of scan which the instruction
completed, and turned off by the next END processing.
(b) Status display device at the completion
It is turned on/off according to the status of the instruction completion.
Normal completion : OFF
Abnormal completion : It is turned on by the END processing of scan
which the instruction completed, and turned off by
the next END processing.
[Setting range]
(1) Setting of axis to execute the current value change.
The starting axis set as (S1) sets J + Axis No. in a character sequence " ".
(S1) usable range
Q173CPU(N) 1 to 32
Q172CPU(N) 1 to 8
The number of axes which can set are only 1 axis.
The axis No. set in the system setting (Refer to Section 1.5) is used as the axis
No. to start.