Mitsubishi Electric Q172CPU - Page 14

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3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU
SYSTEM 3- 1 to 3-22
3.1 Automatic Refresh Function of The Shared CPU Memory .................................................................... 3- 1
3.2 Shared CPU Memory............................................................................................................................... 3-19
4. MOTION DEDICATED PLC INSTRUCTION 4- 1 to 4-42
4.1 Motion Dedicated PLC Instruction........................................................................................................... 4- 1
4.1.1 Restriction item of the Motion dedicated PLC instruction ................................................................ 4- 1
4.2 Motion program (Control program) Start Request from The PLC CPU to The Motion CPU:
S(P).SFCS (PLC instruction:
S(P).SFCS
)............................................................................................ 4- 8
4.3 Motion Program (Axis designation program) Start Request from The PLC CPU to The Motion CPU:
S(P).SVST (PLC instruction:
S(P).SVST
) ............................................................................................ 4-13
4.4 Home position return instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction:
S(P).CHGA
)........................................................................................... 4-19
4.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction:
S(P).CHGV
)........................................................................................... 4-24
4.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction:
S(P) .CHGT
).......................................................................................... 4-32
4.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction:
S(P).DDWR
) .............. 4-35
4.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction:
S(P).DDRD
) ................. 4-39
5. POSITIONING DEDICATED SIGNALS 5- 1 to 5-88
5.1 Internal Relays ......................................................................................................................................... 5- 2
5.1.1 Axis statuses ..................................................................................................................................... 5-13
5.1.2 Axis command signals ...................................................................................................................... 5-25
5.1.3 Axis statuses 2 ..................................................................................................................................5-32
5.1.4 Axis command signals 2 ................................................................................................................... 5-35
5.1.5 Common devices .............................................................................................................................. 5-44
5.2 Data Registers.......................................................................................................................................... 5-55
5.2.1 Axis monitor devices ......................................................................................................................... 5-63
5.2.2 Control change registers................................................................................................................... 5-66
5.2.3 Axis monitor devices 2 ...................................................................................................................... 5-67
5.2.4 Control program monitor devices ..................................................................................................... 5-71
5.2.5 Control change registers 2................................................................................................................ 5-73
5.2.6 Tool length offset data setting registers ........................................................................................... 5-74
5.2.7 Common devices .............................................................................................................................. 5-75
5.3 Motion Registers (#)................................................................................................................................. 5-79
5.4 Special Relays (SP.M) ............................................................................................................................. 5-80
5.5 Special Registers (SP.D) ......................................................................................................................... 5-83
6. PARAMETERS FOR POSITIONING CONTROL 6- 1 to 6-32
6.1 System Settings ....................................................................................................................................... 6- 1
6.2 Fixed Parameters..................................................................................................................................... 6- 2
6.2.1 Number of pulses/travel value per rotation ...................................................................................... 6- 3
6.2.2 Backlash compensation amount....................................................................................................... 6- 5
6.2.3 Upper/lower stroke limit value........................................................................................................... 6- 5