Mitsubishi Electric R16MTCPU Programming Manual page 45

*3 Only valid during continuous trajectory control, VPF/VPR, VVF/VVR. When setting torque limit in another control mode, set the torque
limit value at start in positioning data item. When not using torque limit value during operation, set "0". When both torque limit during
operation and torque limit at start are set in VVF/VVR, torque limit at start is valid.
*4 When the "speed control 10 multiplier speed setting for degree axis" is set to "valid", the setting range is 1 to 214748364710
min]
Processing details
■Controls
• Request a direct positioning start to the Motion CPU from the data stored in the positioning data area of the device of the
self CPU specified with (S2) and after.
• It is necessary to take an inter-lock by the start accept flag of CPU buffer memory and user device so that multiple
instructions may not be executed toward the same axis of the same Motion CPU No.
Refer to the start accept flag (system area) for details of the start accept flag. (Page 82 Start accept flag
(System area))
■Operation
Outline operation between CPUs at the MP.SVSTD and DP.SVSTD instruction execution is shown below.
• MP.SVSTD instruction
Sequence program
MP.SVSTD instruction
Axis start accept flag
(System area)
CPU dedicated transmission
(Non-fixed cycle)
Servo program
Operation cycle
Complete device (D2+0)
Status display device (D2+1)
at the completion
*1 Set in [Motion CPU Common parameter]  [Basic Setting]
• DP.SVSTD instruction
Sequence program
DP.SVSTD instruction
Axis start accept flag
(CPU buffer memory)
CPU dedicated transmission
(Fixed cycle)
Communication
Servo program
Operation
Complete device (D2+0)
Status display device (D2+1)
at the completion
*1 Set in [System Parameter]  [Multiple CPU settings] in GX Works3
*2 Set in [Motion CPU Common parameter]  [Basic Setting]
MP.SVSTD execution
ON
Request
ON
data set
Transfer
Response
data set
*1
DP.SVSTD execution
ON
Request
ON
data set
Transfer Transfer
Response
*1
cycle data set
*2
cycle
END END
Servo program
executed processing
ON
ON: Abnormal completion only
1 scan
END END
Servo program
executed processing
ON
ON: Abnormal completion only
1 scan
2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
-2
[degree/
2
43