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2 MOTION DEDICATED PLC INSTRUCTION
2.3 Precautions
Order of instruction execution
Methods to control using execution data after it is transmitted from the PLC CPU to the Motion CPU are shown below.
Method to execute after data is written to the CPU buffer memory
Write the data from PLC CPU to the buffer memory (Fixed cycle transmission area) of the self CPU, and then it can be utilized
for Motion dedicated PLC instruction execution.
■Program example
Program which starts the servo program (positioning) by DP.SVST instruction after the data has been writing to CPU buffer
memory (Fixed cycle transmission area (U3E0\HG0 to U3E0\HG3) from PLC CPU (CPU No.1).
DMOVP K10000 U3E0\HG0
DMOVP K100000 U3E0\HG2
Servo program
K10 position
command
Servo program
K10 speed
command
Instruction
execution
command
DP.SVST H3E1 "J1" K10 M100 D100
RST M0
Instruction
execution
command
K 10: Real
1 INC-1
Axis 1, U3E0\GH0 µm
Speed U3E0\HG2 mm/min
Servo program (Motion CPU side)
Start accept
flag of CPU
No.2(Axis 1)
M0
U3E1
\G516.0
Sequence program (PLC CPU side)
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