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5 MOTION DEDICATED PLC INSTRUCTION
[Controls]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
(2) The speed change is executed of the axis specified with (S1) during positioning or
JOG operating.
(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).CHGV instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.
(4) When the speed change is executed also at the operation control step (Fn/FSn) in
the Motion CPU, it is necessary to take an inter-lock by user program, because
there is no flag which can distinguish the speed changing in the PLC CPU.
Speed changing flag (M2061 to M2092) of the motion devices is used as the inter-
lock condition in the Motion CPU.
(5) It is necessary to take an inter-lock by the speed changing flag of the shared CPU
memory so that multiple instructions may not be executed toward the same axis of
the same Motion CPU No..
[Operation]
State display device (D1+1)
at the instruction start
accept completion
t
ON
ON
S(P).CHGV instruction
OFF
ON
OFF
OFF
OFF
Speed change processing
1 scan
PLC program
Instruction accept
completion at the
Motion CPU side
END
END
END
END
Speed change
S(P).CHGV execution
Instruction start
accept complete device
(D1+0)
Speed changing flag
OFF
ON
To self CPU high speed interrupt
accept flag from CPUn
ON : Abnormal completion only