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CHAPTER 6 COMMUNICATIONS AMONG CPU MODULES
6
6.3 Communications Among CPU Modules By Dedicated Instructions
6.3.1 Reading/writing device data from/to Motion CPU
(2) Multiple CPU high-speed transmission dedicated instructions
The Universal model QCPU reads/writes device data from/to the Q172DCPU(-S1), Q173DCPU(-S1),
Q172DSCPU, and Q173DSCPU by executing the multiple CPU high-speed transmission dedicated instructions
listed below.
: Available, ×: Not available
One QCPU can execute up to total of 32 motion dedicated instructions and multiple CPU transmission dedicated instructions
(except the S(P).GINT instruction) simultaneously.
Note that if a motion dedicated instruction and a multiple CPU transmission dedicated instruction are executed
simultaneously, processing of the instruction received first is performed first. If 33 or more unprocessed instructions are
accumulated, "OPERATION ERROR" (error code: 4107) will occur.
Remark
C Controller modules have functions that direct control to Motion CPUs. ( Manual for the C Controller module 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)
D.DDWR,
DP.DDWR
Writes device data in the host CPU module
to the devices in other CPU modules.
××
D.DDRD,
DP.DDRD
Loads device data in other CPU modules to
the devices in the host CPU module.
××
D.GINT,
DP.GINT
Requests startup of interrupt programs in
other CPU modules.
××