Mitsubishi Electric R32MTCPU Programming Manual page 173

■Error detection program
<Master CPU>
If each error detection signal of the master CPU and slave CPU, or servo error
detection signals turn ON, synchronous control start turns OFF.
Error detection
[G 20]
RST M0
//Error status check of each axis of each CPU
(CPU No.2: axis 1, axis 3)
SET M0=(D2000L&H00000005)!=0
// Error detection signal
SET M0=(D2002L&H00000005)!=0
//Servo error detection signal
//Error status check of each axis of each CPU
(CPU No. 3: axis 16)
SET M0=(D2010L&H00008000)!=0
//Error detection signal
SET M0=(D2012L&H00008000)!=0
//Servo error detection signal
//Repeat until error detection
M0
[F 21]
//[Rq.380] Synchronous control start OFF of CPU No.2
axis 1
RST M12000
Error display
[G 22]
//Waiting for subroutine process complete
NOP
P0
P0
<Slave CPU>
If the input axis error information of the master CPU, error detection signals of
the slave CPU, or servo error detection signals turn ON, synchronous control
start turns OFF.
Error detection
[G 30]
RST M0
//Check master CPU input axis error information
SET M0=(D1000L&H00000004)!=0
//Error status check of each axis of each CPU
(CPU No.2: axis 1, axis 3)
SET M0=(D2000L&H00000005)!=0
//Error detection signal
SET M0=(D2002L&H00000005)!=0
//Servo error detection signal
//Error status check of each axis of each CPU
(CPU No.3: axis 16)
SET M0=(D2010L&H00008000)!=0
//Error detection signal
SET M0=(D2012L&H00008000)!=0
//Servo error detection signal
//Repeat until error detection
M0
[F 31]
//[Rq.380] Synchronous control start OFF of CPU No.3
axis 16
RST M12015
Error display
[G 32]
//Waiting for subroutine process complete
NOP
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Multiple CPU Advanced Synchronous Control
P0
P0
171
7