3 POSITIONING DEDICATED SIGNALS

3.4 Special Relays (SP.M)

There are 256 special relay points of M9000 to M9255 in the Motion CPU.

Of these, 7 points of the M9073 to M9079 are used for the positioning control, and their applications are indicated in Table 3.2. (Refer to APPENDIX 2.1 "Special relays" for the applications of the special relays except M9073 to M9079.)

Table 3.2 Special relay list

Device No.

Signal name

Refresh cycle

Signal type

 

 

 

 

 

 

M9073

PCPU WDT error flag

 

 

 

M9074

PCPU REDAY complete flag

 

 

 

M9075

TEST mode ON flag

 

 

 

M9076

External forced stop input flag

Main cycle

Status signal

 

M9077

Manual pulse generator axis setting error flag

 

 

 

M9078

TEST mode request error flag

 

 

 

M9079

Servo program setting error flag

 

 

 

(1) PCPU WDT error flag (M9073) ...................................

 

Status signal

This flag turns on when a "watchdog timer error" is detected of the Motion CPU self-diagnosis function.

When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes.

If the Motion CPU WDT error flag has turn on, reset the Motion CPU.

If M9073 remains on after resetting, there is a fault at the Motion CPU side. The error cause is stored in the "Motion CPU WDT error cause (D9184)". (Refer to Section 3.5).

(2) PCPU REDAY complete flag (M9074) ………............ Status signal

This flag is used as judgement of the normal or abnormal in the Motion CPU side using the PLC program.

(a)When the PLC ready flag (M2000) turns off to on, the fixed parameters, servo parameters and limit switch output data are checked, and if error is not detected, this flag turns on.

The servo parameters are written to the servo amplifiers and the M-codes are cleared.

(b)This flag turns off when the PLC ready flag (M2000) turns off.

PLC ready flag

 

t

(M2000)

 

 

 

PCPU READY

 

 

complete flag

 

The servo parameters are

(M9074)

 

 

 

written to the servo amplifiers

 

 

and the M-codes are cleared.

 

 

 

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