Mitsubishi Electric Q173CPU Programming Manual page 175

5 MOTION DEDICATED PLC INSTRUCTION
When an axis No."Cn" was specified with (S1)
[Controls]
[Operation]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
(2) The cam axis within-one-revolution 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.
(6) It is necessary to take an inter-lock by the cam axis within-one-revolution current
value changing flag of the shared CPU memory so that multiple instructions may
not be executed toward the same cam 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 cam axis is executed in the S(P).SVST
instruction.
PLC program
S(P).CHGA instruction
To self CPU high speed interrupt
accept flag from CPUn
Start accept flag
(Cam axis)
Current value change
Instruction start
accept complete device
(D1+0)
State display device (D1+1)
at the instruction start
accept completion
END
S(P).CHGA execution
ON
OFF
ON
OFF
ON
OFF
OFF
OFF
Instruction accept
completion at the
Motion CPU side
5 - 26
END
END
Current value change
ON
ON : Abnormal completion only
1 scan
END t