Motion Dedicated Plc Instruction - Mitsubishi Electric R16MTCPU Programming Manual

2.2

Motion Dedicated PLC Instruction

The Motion dedicated PLC instruction that can be executed toward the Motion CPU is shown below.
Instruction
M(P).□ D(P).□
M(P).SFCS D(P).SFCS
M(P).SVST D(P).SVST
M(P).SVSTD D(P).SVSTD
M(P).CHGA D(P).CHGA
M(P).CHGAS D(P).CHGAS
M(P).CHGV D(P).CHGV
M(P).CHGVS D(P).CHGVS
M(P).CHGT D(P).CHGT
M(P).MCNST D(P).MCNST
M(P).DDWR D(P).DDWR
M(P).DDRD D(P).DDRD
M(P).BITWR D(P).BITWR
M(P).GINT D(P).GINT
2 MOTION DEDICATED PLC INSTRUCTION
30
2.2 Motion Dedicated PLC Instruction
Description
Start request of the specified Motion SFC program
Start request of the specified servo program
Direct positioning start request
Current value change request of the specified axis
Current value change request of the specified command generation axis
Speed change request of the specified axis
Speed change request of the specified command generation axis
Torque control value change request of the specified axis
Start request of machine program operation
Write device data of the self CPU to the device of another Motion CPU
Read device data of another Motion CPU to the device of self CPU
Write bit operation to the bit device of another Motion CPU
Execute request of an event task of Motion SFC program
Reference
Page 31 Motion SFC start request from
the PLC CPU to the Motion CPU: M(P).SFCS/
D(P).SFCS
Page 34 Servo program start request from
the PLC CPU to the Motion CPU: M(P).SVST/
D(P).SVST
Page 39 Direct positioning start instruction
from the PLC CPU to the Motion CPU:
M(P).SVSTD/D(P).SVSTD
Page 51 Current value change instruction
from the PLC CPU to the Motion CPU:
M(P).CHGA/D(P).CHGA
Page 55 Current value change instruction
of command generation axis from the PLC
CPU to the Motion CPU: M(P).CHGAS/
D(P).CHGAS
Page 59 Speed change instruction from
the PLC CPU to the Motion CPU: M(P).CHGV/
D(P).CHGV
Page 64 Speed change instruction of
command generation axis from the PLC CPU
to the Motion CPU: M(P).CHGVS/
D(P).CHGVS
Page 69 Torque limit value change request
instruction from the PLC CPU to the Motion
CPU: M(P).CHGT/D(P).CHGT
Page 72 Machine program operation start
request from the PLC CPU to the Motion CPU:
M(P).MCNST/D(P).MCNST
MELSEC iQ-R Programming Manual
(Instructions, Standard Functions/Function
Blocks)
Page 76 Write bit device to the Motion
CPU: M(P).BITWR/D(P).BITWR
Page 79 Interrupt instruction to the other
CPU: M(P).GINT/D(P).GINT