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2 MULTIPLE CPU SYSTEM
2.3.6 Control Instruction from PLC CPU to Motion CPU
Control can be instructed from the PLC CPU to the Motion CPU using the Motion
dedicated PLC instructions listed in the table below.
Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming
Manual (Motion SFC)" for the details of each instruction.
(Control may not be instructed from one Motion CPU to another Motion CPU.)
Instruction name Description
D(P).SFCS Start request of the Motion SFC program (Program No. may be specified.)
D(P).SVST Start request of the specified servo program
D(P).CHGA Current value change request of the specified axis
D(P).CHGV Speed change request of the specified axis
D(P).CHGT Torque control value change request of the specified axis
D(P).GINT Execute request of an event task to the other CPU (Motion CPU)
D(P).DDWR
Write device data of the self CPU (PLC CPU) to the device of other CPU
(Motion CPU)
D(P).DDRD
Read device data of other CPU (Motion CPU) to the device of self CPU
(PLC CPU)
For example, by using the D(P).SFCS instruction of Motion dedicated PLC instruction,
the Motion SFC of the Motion CPU can be started from the PLC CPU.
<Example>
PLC CPU Motion CPU
Motion SFC
D(P). SFCS instruction
Start request