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6.2 Control Directions from QCPU to Motion CPU
Control directions can be issued from the QCPU to Motion CPU in a multiple CPU system by using the following
motion dedicated instructions. (Control directions cannot be issued from the Motion CPU to another Motion CPU.)
For details on the motion dedicated instructions and their availabilities, refer to the manual for the motion CPU used.
: Available, ×: Not available
*1 To execute these instructions, the following restrictions on the version of the Motion CPU apply.
• Q172CPUN(-T), Q173CPUN(-T), Q172HCPU(-T), and Q173HCPU(-T): There is no restriction.
• Q172CPU: Version N or later
• Q173CPU: Version M or later
*2 To execute these instructions, use any of the following Motion CPUs.
• Q172DSCPU
• Q173DSCPU
*3 To execute these instructions, use any of the following Motion CPUs.
• Q172DSCPU (when version 00B or later of operating system software SW8DNC-SV22QL is used)
• Q173DSCPU (when version 00B or later of operating system software SW8DNC-SV22QJ is used)
Instruction Description
QCPU
Basic model QCPU,
High Performance
model QCPU,
Process CPU
Q00UCPU,
Q01UCPU,
Q02UCPU
Universal model QCPU
(except the Q00UCPU,
Q01UCPU, and Q02UCPU)
S.SFCS,
SP.SFCS
Requests startup of the motion
SFC program.
×
D.SFCS,
DP.SFCS
××
S.SVST
*1
,
SP.SVST
*1
Requests the start of the servo
program.
×
D.SVST,
DP.SVST
××
S.CHGV
*1
,
SP.CHGV
*1
Changes the speed of the axes
during positioning and JOG
operations.
×
D.CHGV,
DP.CHGV
××
D.CHGVS
*3
,
DP.CHGVS
*3
Changes the speed of the
command generation axes during
positioning and JOG operations.
××
S.CHGT
*1
,
SP.CHGT
*1
Changes the torque control value
during operation and suspension
when in real mode.
×
D.CHGT,
DP.CHGT
××
D.CHGT2
*2
,
DP.CHGT2
*2
Individually changes the torque
control value during operation and
suspension.
××
S.CHGA
*1
,
SP.CHGA
*1
Changes the current values of the
halted axes, the synchronized
encoder, and the cam axes.
×
D.CHGA,
DP.CHGA
××
D.CHGAS
*3
,
DP.CHGAS
*3
Changes the current values of
halted command generation axes.
××