Mitsubishi Electric MELSEC iQ-R C Series Programming Manual page 77

Description
The dedicated instructions that can be specified to the instruction name (pcInstName) are as shown below.
For the specifications of each dedicated function and the completion status, refer to the programming manual for each
module.
Instruction name Description
CHGA To request a motion CPU to change the current value.
CHGAS To request a motion CPU to change the current value.
CHGV To request a motion CPU to change the speed value.
CHGVS To request a motion CPU to change the speed value.
CHGT To request a motion CPU to change the torque limit value.
DDRD To read data from the device of a motion CPU.
*1
GINT To issue an interrupt to a motion CPU or a C Controller module.
SFCS To request a motion CPU to start a motion SFC program.
SVST To request a motion CPU to start a servo program.
DDWR To write data to the device of a motion CPU.
MCNST To request a motion CPU to start a machine program operation.
BITWR To write data to the bit device of a motion CPU.
SVSTD To issue a direct positioning start request to a motion CPU.
*1 The arguments to issue an interrupt from a C Controller module by using the CCPU_DedicatedDInst function are the same as those to
issue an interrupt to a C Controller module by using the CCPU_DedicatedMInst function.
For details on the arguments, refer to the following:
Page 81 CCPU_DedicatedMInst
Precautions
• To execute the CCPU_DedicatedDInst function, reserve an area to store the completion device of the dedicated instruction
and specify it to the argument. If the area and its size are not specified to the argument, an error occurs. (The instruction is
not executed properly.)
• Depending on the type of dedicated instruction, the return value of the CCPU_DedicatedDInst function may be normal even
if wrong argument or size is specified. Make sure to check the completion status by referring to the manual for the
dedicated instruction.
• Specifying an incorrect argument may result in unexpected operation. Make sure to refer to the manual for dedicated
instruction to specify the argument.
• The completion processing of the dedicated instruction is performed in the fixed cycle processing. To reduce the processing
time of the function, set a small value for the refresh cycle.
• The operation varies depending on the firmware version of C Controller module. Ensure to check the supported firmware
version of the C Controller module.
Return value
Return value Description
0 (0000H) Normal
Other than 0 Error
For details on the error, refer to the following:
Page 225 ERROR CODE LIST
Relevant functions
• Page 76 CCPU_DedicatedGInst
• Page 79 CCPU_DedicatedJInst
• Page 81 CCPU_DedicatedMInst
Instruction Supported firmware
version of C Controller
module
D.CHGA, DP.CHGA '01' or later
D.CHGAS, DP.CHGAS
D.CHGV, DP.CHGV
D.CHGVS, DP.CHGVS
D.CHGT, DP.CHGT
D.DDRD, DP.DDRD
D.GINT, DP.GINT
D.SFCS, DP.SFCS
D.SVST, DP.SVST
D.DDWR, DP.DDWR
D.MCNST, DP.MCNST
D.BITWR, DP.BITWR
D.SVSTD, DP.SVSTD
3 DETAILS OF FUNCTION
3.1 C Controller Module Dedicated Functions
3
75