Mitsubishi Electric Q172CPU Programming Manual page 299

APPENDICES
Start method
Start by the servo program
Set the loop (FOR - NEXT) point data
for CPSTART instruction indirectly
(2) Inputting device data
Indirect setting device data is inputted by the Motion CPU at the servo program
start.
Do not change the applicable device before setting to device and start
completion.
The procedures by start method for setting data to devices and cautions are
shown below.
Set data in indirect setting devices.
Start the servo program.
Set initial command data in the indirect
setting device.
Start using the servo program (or turn
the cancel command device on).
Read the value of "data set pointer for
constant-speed control" of the start
axis, and update the data input by
Motion CPU.
Setting method
APP - 54
Notes
Do not change the indirect setting
device before the "positioning start
complete signal" of the starting axis
turns on.
Refer to the positioning signal data
register "Monitoring data area" for
details.