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4 MOTION DEDICATED PLC INSTRUCTION
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4. MOTION DEDICATED PLC INSTRUCTION
4.1 Motion Dedicated PLC Instruction
(1) The Motion dedicated PLC instruction which can be executed toward the Motion
CPU which installed a SV43 operating system software is shown below.
Instruction Description
S(P).SFCS Start request of the specified Motion program (Control program)
S(P).SVST Start request of the specified Motion program (Axis designation program)
S(P).CHGA 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).DDWR Write from the PLC CPU to the Motion CPU
S(P).DDRD Read from the devices of the Motion CPU
(Note) : As for the details of each instruction, it explains after the next section.
4.1.1 Restriction item of the Motion dedicated PLC instruction
(1) To self CPU high speed interrupt accept flag from CPUn.
Common precautions of the Motion dedicated PLC instruction as shown below.
(a) To self CPU high speed interrupt accept flag from CPUn is shown in the
following table.
To self CPU high speed interrupt accept flag from CPUn is "No operation"
even if the instruction is executed when it is cannot be accepted.
When the Motion dedicated PLC instruction is accepted in the Motion CPU,
to self CPU high speed interrupt accept flag from CPUn of the self CPU
(Motion CPU) shared CPU memory cannot be accepted and
processing toward the instruction for requirement.
When processing is completed and it becomes the condition that it has an
instruction accepted, to self CPU high speed interrupt accept flag from
CPUn can be accepted.
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