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2 MULTIPLE CPU SYSTEM
2.3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated
instructions)
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 "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming
Manual (Motion SFC)" or "Q173HCPU/Q172HCPU Motion controller (SV43)
Programming Manual" for the details of each instruction.
(Control may not be instructed from the Motion CPU to another Motion CPU.)
Description
Instruction name
SV13/SV22 SV43
S(P).SFCS
Start request of the Motion SFC
program (Program No. may be
specified.)
Start request of the specified Motion
program (Control program)
S(P).SVST
Start request of the specified servo
program
Start request of the specified Motion
program (Axis designation program)
S(P).CHGA
Current value change request of the
specified axis
Home position return request of the
specified axis
S(P).CHGV Speed change request of the specified axis
S(P).CHGT Torque control value change request of the specified axis
S(P).GINT
Execute request of an event task to
the other CPU (Motion CPU)
Unusable
By using the S(P).SFCS instruction of the Motion dedicated instruction, the Motion
SFC of the Motion CPU from the PLC CPU can be started.
<Example>
PLC CPU Motion CPU
Motion SFC
S(P). SFCS instruction
Start request
POINT
One PLC CPU can execute a total of up to 32 "Motion dedicated instructions" and
"dedicated instructions excluding the S(P).GINT" simultaneously.
When Motion dedicated instructions and dedicated instructions excluding the
"S(P).GINT" are executed simultaneously, the instructions will be processed in the
order received.
If the command which has not completed processing becomes 33 or more, an
OPERATION ERROR (error code: 4107) will be occurred.