Appendix 6.2 Precautions For Utilizing Programs - Mitsubishi Electric L02SCPU User's Manual And Reference

Appendix 6.2
This section describes precautions for applying a QnCPU program to the LCPU.
(1) I/O assignment
Since the LCPU is equipped with built-in functions, the start I/O number assigned by default is different from that
of the QnCPU. Therefore, to use the programs of the QnCPU, I/O assignments must be changed even if the
configuration of the module has been the same. Change the start I/O number of the connected module in the I/O
Assignment tab of the PLC Parameter dialog box according to the program. ( Page 364, Appendix 1.2 (9))
(2) Instructions
Some instructions among those applicable to the QnCPU cannot be used in the LCPU. The following table shows
the instructions not applicable to the LCPU.
File register switching instruction
Application instruction
Other instructions
CPU module shared memory
access instruction
Motion CPU dedicated instruction
*1
Multiple CPU dedicated
instruction
Multiple CPU high speed bus
compatible Motion CPU dedicated
instruction
Multiple CPU high speed bus
compatible NC dedicated
instruction
Another CPU access instruction
Multiple CPU high speed bus
compatible other CPU access
instruction
*1 Only the Q00UCPU, Q01UCPU, and Q02UCPU support these instructions.
*2 The Universal model QCPUs (except the Q00UJCPU, Q00UCPU, Q01UCPU, and Q02UCPU) support these
instructions.
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Precautions for utilizing programs
Classification
File set
Reading routing information
Registering routing information
File register high-speed block transfer
Write to host CPU shared memory
Reading from the CPU shared memory of another CPU
Motion SFC program startup request
Servo program startup request
Axis speed change during positioning and JOG operation
Torque control value change during operation and suspension
in real mode
Current value change of halted axis/synchronized
encoder/cam axis
Write device data to motion controller
Read device data from motion controller
Motion SFC program startup request
Servo program startup request
Axis speed change during positioning and JOG operation
Torque control value change during operation and suspension
*2
in real mode
Current value change of halted axis/synchronized
encoder/cam axis
ATC dedicated instruction
Rotation control instruction
*2
*1
Other CPU interrupt program startup
Writing devices to another CPU
Reading devices to another CPU
*2
Other CPU (motion controller) interrupt program startup
Instruction
QDRSET(P)
S(P).RTREAD
S(P).RTWRITE
RBMOV(P)
S(P).TO
TO(P)
DTO(P)
FROM(P)
DFRO(P)
S(P).SFCS
S(P).SVST
S(P).CHGV
S(P).CHGT
S(P).CHGA
S(P).DDWR
S(P).DDRD
D(P).SFCS
D(P).SVST
D(P).CHGV
D(P).CHGT
D(P).CHGA
D(P).ATC
D(P).ROT
S(P).GINT
D(P).DDWR
D(P).DDRD
D(P).GINT