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1 MULTIPLE CPU SYSTEM
1.3 Data Communication Between CPU Modules in the Multiple CPU System
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 following for the details of each instruction. (Control may not be instructed from one Motion CPU to another
Motion CPU.)
MELSEC iQ-R Motion controller Programming Manual (Program Design)
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.
Instruction name Description
M(P).□ D(P).□
M(P).SFCS D(P).SFCS Start request of the Motion SFC program (Program No. may be specified.)
M(P).SVST D(P).SVST Start request of the specified servo program
M(P).SVSTD D(P).SVSTD Direct positioning start request
M(P).CHGA D(P).CHGA Current value change request of the specified axis
M(P).CHGAS D(P).CHGAS Current value change request of the specified command generation axis
M(P).CHGV D(P).CHGV Speed change request of the specified axis
M(P).CHGVS D(P).CHGVS Speed change request of the specified command generation axis
M(P).CHGT D(P).CHGT Torque control value change request of the specified axis
M(P).MCNST D(P).MCNST Machine program operation start request
M(P).GINT D(P).GINT Execute request of an event task to the other CPU (Motion CPU)
M(P).DDWR D(P).DDWR Write device data of the self CPU (PLC CPU) to the device of other CPU (Motion CPU)
M(P).DDRD D(P).DDRD Read device data of other CPU (Motion CPU) to the device of self CPU (PLC CPU)
M(P).BITWR D(P).BITWR Write bit operation to the bit device of another Motion CPU
PLC CPU
Start request
D(P).SFCS instruction
Motion CPU
Motion SFC
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