Execution Of Motion Dedicated Plc Instruction - Mitsubishi Electric R16MTCPU Programming Manual

Number of simultaneous acceptances for Multiple CPU dedicated instructions
The number of instructions that can be accepted simultaneously in the Motion CPU is shown in the table below.
Instruction
M(P).SFCS/D(P).SFCS
M(P).SVST/D(P).SVST
M(P).SVSTD/D(P).SVSTD
M(P).CHGA/D(P).CHGA
M(P).CHGAS/D(P).CHGAS
M(P).MCNST/D(P).MCNST
M(P).CHGV/D(P).CHGV
M(P).CHGVS/D(P).CHGVS
M(P).CHGT/D(P).CHGT
M(P).DDWR/D(P).DDWR
M(P).DDRD/D(P).DDRD
M(P).BITWR/D(P).BITWR
M(P).GINT/D(P).GINT
*1 The number of simultaneous executions is dependent on the number of CPU dedicated instruction empty blocks on the PLC CPU side.
When more than the above number of instructions are executed by the PLC CPU, even if there is enough area in the CPU
dedicated instruction transmission area, the Motion CPU cannot accept it. In this case, 2100H is set to the complete status
information and abnormal completion occurs.

Execution of Motion dedicated PLC instruction

• Motion dedicated PLC instruction can be executed with a fixed cycle execute type program and interrupt program.
However, the complete device is a pulse-type. If the complete device (M100 in below example) is set, it may not be
recognized during the PLC scan. Therefore, the sequence program should scan for completion of the device and use a set
bit to execute the Motion instruction string.
M10
M100 M101
Complete
M101
device
• The below devices cannot be used as program file registers or local devices.
• Each instruction's complete device and complete status
• M(P).DDRD/D(P).DDRD instruction of D1 (First device of the self CPU where the reading data is stored.)
• When using the Motion dedicated function of the operation control step (Fn/FSn) and servo program (Kn) in Motion CPU, it
is necessary to create a user-defined interlock using WAIT transition (Gn) as shown below.
Gn
Kn
Gn
2 MOTION DEDICATED PLC INSTRUCTION
88
2.3 Precautions
Number of simultaneous acceptances
64
256 instructions total
*1
No limitation
(The command speed and torque limit value of the instructions last executed is valid)
*1
No limitation
(Processed in the order of issue)
MP.SVST H3E1 "J1" K11 M100 D100
Normal complete program
Abnormal complete program