Mitsubishi Electric Q173DSCPU - Page 15

A - 14
3.2.7 Torque limit value change request instruction from the PLC CPU to the Motion CPU:
D(P).CHGT (PLC instruction: D(P).CHGT
) .................................................................................. 3-45
3.2.8 Torque limit value individual change request instruction from the PLC CPU to the Motion CPU:
D(P).CHGT2 (PLC instruction: D(P).CHGT2
) .............................................................................. 3-50
3.2.9 Write device data of the self CPU to the device of other CPU:
D(P).DDWR (PLC instruction: D(P).DDWR
) ................................................................................ 3-55
3.2.10 Read device data of other CPU to the device of self CPU:
D(P).DDRD (PLC instruction: D(P).DDRD
) .................................................................................. 3-60
3.2.11 Interrupt instruction to the other CPU: D(P).GINT (PLC instruction: D(P).GINT
) ..................... 3-65
3.3 Precautions .............................................................................................................................................. 3-69
4. MOTION SFC PROGRAMS 4- 1 to 4-30
4.1 Motion SFC Program Configuration ........................................................................................................ 4- 1
4.2 Motion SFC Chart Symbol List ................................................................................................................ 4- 2
4.3 Branch and Coupling Chart List ............................................................................................................... 4- 5
4.4 Motion SFC Program Name .................................................................................................................... 4- 9
4.5 Steps ......................................................................................................................................................... 4-10
4.5.1 Motion control step ............................................................................................................................ 4-10
4.5.2 Operation control step ....................................................................................................................... 4-11
4.5.3 Subroutine call/start step................................................................................................................... 4-12
4.5.4 Clear step .......................................................................................................................................... 4-14
4.6 Transitions ................................................................................................................................................ 4-16
4.7 Jump, Pointer ........................................................................................................................................... 4-19
4.8 END .......................................................................................................................................................... 4-19
4.9 Branches, Couplings ................................................................................................................................ 4-20
4.9.1 Series transition ................................................................................................................................. 4-20
4.9.2 Selective branch, selective coupling ................................................................................................. 4-21
4.9.3 Parallel branch, parallel coupling ...................................................................................................... 4-22
4.10 Y/N Transitions ....................................................................................................................................... 4-24
4.11 Motion SFC Comments ......................................................................................................................... 4-28
5. OPERATION CONTROL PROGRAMS 5- 1 to 5-184
5.1 Operation Control Programs .................................................................................................................... 5- 1
5.2 Device Descriptions ................................................................................................................................. 5- 9
5.3 Constant Descriptions .............................................................................................................................. 5-12
5.4 Binary Operations .................................................................................................................................... 5-13
5.4.1 Substitution : = ................................................................................................................................... 5-13
5.4.2 Addition : + ......................................................................................................................................... 5-15
5.4.3 Subtraction :
.................................................................................................................................. 5-16
5.4.4 Multiplication : * ................................................................................................................................. 5-17
5.4.5 Division : / .......................................................................................................................................... 5-18
5.4.6 Remainder : % ................................................................................................................................... 5-19
5.5 Bit Operations ........................................................................................................................................... 5-20
5.5.1 Bit inversion (Complement) : ˜ .......................................................................................................... 5-20
5.5.2 Bit logical AND : & ............................................................................................................................. 5-21