Mitsubishi Electric Q172CPU Programming Manual page 102

4 MOTION DEDICATED PLC INSTRUCTION
(d) Use a flag in the shared CPU memory which correspond with each
instruction not to execute multiple instructions to the same shaft of the
Motion CPU of same CPU No. for the interlock condition.
(Program example 1)
(e) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGVS(P).CHGT/S(P).DDWR/
S(P).DDRD instructions cannot be executed simultaneously. Therefore, it is
necessary to take an interlock by to self CPU high speed interrupt accept
flag from CPUn.
One PLC CPU can be executed max.32 Motion dedicated PLC instructions
simultaneously using to self CPU high speed interrupt accept flag from
CPUn.
If 33 instructions or more are executed, the PLC CPU returns the
OPERATION ERROR[4107].
(f) When multiple Motion dedicated PLC instructions are directly executed
because one contact-point turns on, an instruction may not be executed.
In this case, create a program with reference to program example.
(Program example 2)
<Program example 1>
Program which executes multiple instructions to the same shaft of the Motion CPU of
same CPU No..
To self CPU high
speed interrupt
accept flag from
CPU1
U3E1\G48.0
M0
K0
To self CPU high
speed interrupt
accept flag from
CPU No.1
M2
U3E1\G48.0
To self CPU high
speed interrupt
accept flag from
CPU No.1
M6
U3E1\G48.0
Start accept Start accept
flag of the Axis 1 flag of the Axis 2
(CPU No.2) (CPU No.2)
U3E1\G516.0 U3E1\G516.1
SP.SVST H3E1 "J1J2"
Start accept
flag of the Axis 1
(CPU No.2)
U3E1\G516.0
SP.CHGA H3E1
SP.CHGT H3E1 "J2"
4 - 3
K0
RST M0
K100 M10 D0
"J1" K0 M3 D2
RST M2
K250 M7 D6
RST M6