Mitsubishi Electric Melsec Q Series Programming Manual page 113

3 MOTION DEDICATED PLC INSTRUCTION
3.2 Motion Dedicated PLC Instruction
Instruction
D(P).SFCS Start request of the specified Motion SFC program
D(P).SVST Start request of the specified servo program
J
D(P).CHGA E Current value change request of the specified axis
C
Current value change request of the specified
D(P).CHGAS
command generation axis
D(P).CHGV Speed change request of the specified axis
Speed change request of the specified command
D(P).CHGVS
generation axis
Torque control value change request of the specified
D(P).CHGT
axis
Torque control value individual change request of the
D(P).CHGT2
specified axis
Write device data of the self CPU to the device of
D(P).DDWR
another Motion CPU
Read device data of another Motion CPU to the device
D(P).DDRD
of self CPU
Execute request of an event task of Motion SFC
D(P).GINT
program
(Note-1): If the instruction is executed for the axis during the synchronous control, a minor error (error code: 300) occurs and the instruction
is not executed.
(Note-2): The error code (2203(H)) is stored in the complete status storage device specified in the D(P).CHGA instruction, and the
instruction is not executed.
Execute the current value change of the synchronous encoder by using [Rq.320] Synchronous encoder axis control request
(M11601+4n). Execute the current value change of the cam axis by using the synchronous control change function.
(Refer to the "Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)" for
details.)
(Note-3): If the instruction is executed toward the axis during the synchronous control, the instruction is ignored.
(Note-4): The error code (2002(H)) is stored in the complete status storage device specified in the D(P).CHGAS instruction or the
D(P).CHGVS instruction, and the instruction is not executed.
The Motion dedicated PLC instruction that can be executed toward the Motion CPU
which installed the operating system software (SV13/SV22) for Q173D(S)CPU/
Q172D(S)CPU is shown below.
Description
Ver.!
QDS
Ver.!
QDS
QDS
Ver.! : Refer to Section 1.3 for the software version that supports this function.
SV13
3 - 2
SV22
Real mode
Advanced
synchronous
Virtual mode
control
QDS Ver.!
(Note-1)
(Note-2)
(Note-2)
(Note-4)
(Note-3)
(Note-4)
: Possible, : Not possible