Mitsubishi Electric Q173CPU

To Next Page

To Previous Page

7 - 84

7 OPERATION CONTROL PROGRAMS

[Program examples]

(1) 2 words from D0 is written in the shared CPU memory to since A00H, and transits

to next step after confirmation of writing completion.

RST M0

MULTW HA00, D0, K2, M0

A00H

A01H

Shared CPU memory

100

200

Device memory

100

200

2 words

transfer

Main Page

Default Chapter2
- Safety Precautions2
- Revisions12
- Table of Contents13
- About Manuals19
1 Overview22
- Features24
- Hardware Configuration76
- Multiple CPU System92
- System Settings101
- Assignment of I/O no113
2 Starting up the Multiple Cpu System118
- Startup Flow of the Multiple CPU System118
3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System120
- Automatic Refresh Function of the Shared CPU Memory120
- Control Instruction from the PLC CPU to the Motion CPU (Motion Dedicated Instructions)139
- Reading/Writing Device Data140
- Shared CPU Memory141
4 Structure of the Motion Cpu Program146
- Motion Control in SV13/SV22 Real Mode147
- Motion Control in SV22 Virtual Mode148
5 Motion Dedicated Plc Instruction150
- Restriction Item of the Motion Dedicated PLC Instruction150
- Motion SFC Start Request from the PLC CPU to the Motion CPU: S(P).SFCS (PLC Instruction: S(P).SFCS )158
- Servo Program Start Request from the PLC CPU to the Motion CPU: S(P).SVST (PLC Instruction: S(P).SVST )161
- Current Value Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGA (PLC Instruction: S(P).CHGA )166
- Speed Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGV (PLC Instruction: S(P).CHGV )179
- Torque Limit Value Change Request Instruction from the PLC CPU to the Motion CPU: S(P).CHGT (PLC Instruction: S(P).CHGT )183
- Write from the PLC CPU to the Motion CPU: S(P).DDWR (PLC Instruction: S(P).DDWR )187
- Setting Data187
- Read from the Devices of the Motion CPU: S(P).DDRD (PLC Instruction: S(P).DDRD )191
- Interrupt Instruction to the Other CPU: S(P).GINT (PLC Instruction: S(P).GINT )195
6 Motion Sfc Programs198
- Motion SFC Program Configuration198
- Motion SFC Chart Symbol List199
- Branch and Coupling Chart List202
- Motion SFC Program Name206
- Steps207
- Transitions212
- Program Parameters214
- Jump, Pointer214
- End214
- Branches, Couplings215
- Y/N Transitions219
- Motion SFC Comments223
7 Operation Control Programs226
- Device Descriptions232
- Constant Descriptions234
- Binary Operations235
- Bit Operations243
- Standard Functions250
- Type Conversions265
- Bit Device Statuses271
  - ON (Normally Open Contact) : (None)271
  - OFF (Normally Closed Contact)272
- Bit Device Controls273
- Logical Operations281
- Comparison Operations285
- Motion-Dedicated Functions(CHGV, CHGT)291
  - Speed Change Request : CHGV291
  - Torque Limit Value Change Request : CHGT297
- Other Instructions299
- Comment Statement321
8 Transition Programs322
9 Motion Control Programs324
- Servo Instruction List325
- Servomotor/Virtual Servomotor Shaft Current Value Change337
- Synchronous Encoder Shaft Current Value Change Control (SV22 Only)340
- Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only)343
- Programming Instructions345
  - Cancel • Start345
  - Indirect Designation Using Motion Devices345
10 Motion Devices346
- Motion Registers (#0 to #8191)346
- Coasting Timer (FT)351
11 Motion Sfc Parameter352
- Task Definitions352
- Number of Consecutive Transitions and Task Operation353
  - Number of Consecutive Transitions353
  - Task Operation354
- Execution Status of the Multiple Task358
- Task Parameters359
- Program Parameters361
- How to Start the Motion SFC Program367
- How to End the Motion SFC Program368
- How to Change from One Motion SFC Program to Another368
- How to Manage the Executing Program368
- Operation Performed at CPU Power-Off or Reset369
- Operation Performed When CPU Is Switched from RUN/STOP369
- Operation Performed When PLC Ready Flag (M2000) Turns OFF/ON370
- Operation at the Error Occurrence371
12 User Files372
- Projects372
- User File List373
- Online Change in the Motion SFC Program374
  - Operating Method for the Online Change375
  - Transfer of Program378
13 Limit Switch Output Function380
- Operations380
- Limit Output Setting Data383
14 Rom Operation Function388
- About the ROM Operation Function388
- Specifications of LED • Switch390
- ROM Operation Function Details392
- Operating Procedure of "ROM Writing398
15 Security Function400
- Password Registration/Change400
- Password Clearance402
- Password Check403
- Password Save404
- Clear All405
16 Communications Via Network406
- Specifications of the Communications Via Network407
- Access Range of the Communications Via Network408
17 Monitor Function of the Main Cycle416
18 Servo Parameter Reading Function418
- About the Servo Parameter Read Request Devices418
- Operating Procedure of the Servo Parameter Reading Function419
19 Error Code Lists420
- Reading Procedure for Error Codes420
- Motion SFC Error Code List421
- Motion SFC Parameter Errors430
- Multiple CPU Error Codes432
  - Self-Diagnosis Error Code432
  - Release of Self-Diagnosis Error437
- Appendices438
- APPENDIX 1 Processing Times438
- APPENDIX 1.1 Processing Time of Operation Control/Transition Instruction438
- APPENDIX 2 Sample Program446
- APPENDIX 2.1 Program Example to Execute the Multiple CPU Dedicated Instruction Continuously.app- 9448
- APPENDIX 2.2 the Program Example to Execute Plural Multiple CPU Instruction by the Instructions of One Time448
- APPENDIX 2.3 Motion Control Example by Motion SFC Program450
- APPENDIX 2.4 Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program465
- APPENDIX 2.5 Continuation Execution Example after the Stop by the Motion SFC Program465

Mitsubishi Electric Q173CPU - Page 309

Table of Contents

Other manuals for Mitsubishi Electric Q173CPU

Related product manuals