Communications With Instructions Dedicated To Motion Cpu; Control Instruction From Qcpu To Motion Cpu - Mitsubishi Electric MELSEC Q Series User Manual

4.2 Communications with instructions dedicated to Motion CPU

4.2.1 Control instruction from QCPU to Motion CPU

Control instructions can be issued from the QCPU to Motion CPU with the instructions dedicated to Motion CPU as
listed in Table4.14.
(Control instructions from a Motion CPU to other Motion CPU is not allowed.)
Instruction
name
S.SFCS
SP.SFCS
Requests startup of the motion SFC program.
D.SFCS
DP.SFCS
*1
S.SVST
*1
SP.SVST
Requests the start of the servo program.
D.SVST
DP.SVST
*1
S.CHGV
*1
SP.CHGV
Changes the speed of the axes during
positioning and JOG operations.
D.CHGV
DP.CHGV
*1
S.CHGT
Changes the torque control value during
*1
SP.CHGT
operation and suspension when in the real
D.CHGT
mode.
DP.CHGT
*1
S.CHGA
Changes the current values of the halted
*1
SP.CHGA
axes, the synchronized encoder, and the cam
D.CHGA
axes.
DP.CHGA
*1: The following version restrictions apply to the Motion CPU.
Q172CPU
Q173CPU
Q172CPUN(-T), Q173CPUN(-T)
Q17H2CPU(-T), Q173HCPU(-T)
4 - 47
Table4.14 List of instructions dedicated to Motion CPU
Description
CPU module
Basic model
QCPU/High
Performance
model QCPU/
Process CPU
: Version N or later
: Version M or later
: No version restriction
: No version restriction
Universal model QCPU
Q03UD(E)CPU
Q04UD(E)HCPU
Q00UCPU Q06UD(E)HCPU
Q01UCPU Q10UD(E)HCPU
Q02UCPU Q13UD(E)HCPU
Q20UD(E)HCPU
Q26UD(E)HCPU
: Available, : Not Available