Mitsubishi Electric Q173CPU Programming Manual page 171

5 MOTION DEDICATED PLC INSTRUCTION
When an axis No."En" was specified with (S1)
[Controls]
(1) This instruction is dedicated instruction toward the Motion CPU at the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
(2) The synchronous encoder axis current value specified with (S1) is changed into
the current value specified (S2) at the virtual mode.
(3) This instruction is always effective regardless of the state of real mode/virtual
mode/mode switching when the operating system software of Motion CPU is
SV22.
(4) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).CHGA instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.
(5) When the servo program is executed also at the motion control step (Kn) in the
Motion CPU, it is necessary to take an inter-lock by user program, because there
is no flag which can distinguish the axis starting in the PLC CPU.
Synchronous encoder current value changing flag (M2101 to M2112) of the
motion devices is used as the inter-lock condition in the Motion CPU.
(6) It is necessary to take an inter-lock by the current value changing flag of the
shared CPU memory so that multiple instructions may not be executed toward the
same synchronous encoder axis of the same Motion CPU No..
(7) The current change value is also possible when the servo program which execute
the CHGA instruction toward the synchronous encoder axis is executed in the
S(P).SVST instruction.
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