Mitsubishi Electric Q173CPU Programming Manual page 172

Q series motion controller
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5 MOTION DEDICATED PLC INSTRUCTION
[Operation]
[Setting range]
PLC program
S(P).CHGA instruction
To self CPU high speed interrupt
accept flag from CPUn
Start accept flag
(encoder axis)
Current value change
Instruction start
accept complete device
(D1+0)
State display device (D1+1)
at the instruction start
accept completion
(1) The current value status of the synchronous encoder axis can be confirmed with
the current value changing in the shared CPU memory of target CPU.
(2) S(P).CHGA instruction accepting and normal/abnormal completion can be
confirmed with the complete device (D1) or status display device (D2) at the
completion.
(a) Complete device
It is turned on by the END processing of scan which the instruction
completed, and turned off by the next END processing.
(b) Status display device at the completion
It is turned on/off according to the status of the instruction completion.
Normal completion
Abnormal completion : It is turned on by the END processing of scan
(1) Setting of the synchronous encoder axis to execute the current value change.
The synchronous encoder axis to execute the current value change set as (S1)
sets E + synchronous encoder axis No. in a character sequence " ".
Q173CPU(N)
Q172CPU(N)
The number of axes which can set are only 1 axis.
The axis No. set in the system setting (Refer to Section 1.5) is used as the axis
No. to start.
END
S(P).CHGA execution
ON
OFF
ON
OFF
ON
OFF
OFF
OFF
Instruction accept
completion at the
Motion CPU side
: OFF
which the instruction completed, and turned off by
the next END processing.
(S1) usable range
1 to 12
1 to 8
5 - 23
END
END
Current value change
ON
ON : Abnormal completion only
1 scan
END
t

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