Mitsubishi Electric Q172CPU Programming Manual page 79

4 POSITIONING DEDICATED SIGNALS
(8) All axes servo ON command (M2042) .................. Command signal
This command is used to enable servo operation.
(a) Servo operation enabled ......M2042 turns on while the servo OFF command
(b) Servo operation disable .........• M2042 is off
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
(Note)
Each axis servo ready state
(Note): Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (REAL MODE) for details.
POINT
When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.
(9) Real/virtual mode switching request flag (M2043)
This flag is used for switching between the real and virtual modes.
(a) Turn the M2043 on after the PCPU READY flag has turn on for switching
from the real to virtual mode.
• An error check is executed when the M2043 is switched from off to on.
If no error is detected, switch to the virtual mode, and the real/virtual
mode status switching status flag (M2044) turns on.
• If an error is detected, not switch to the virtual mode. In this case, the
real/virtual mode switching error detection flag (M2045) turns on, and the
error code is stored in the real/virtual mode switching error code storage
register (D9193).
(b) Turn the M2043 off for switching from the virtual to real mode.
• If all axes of the virtual servomotors stopped, switch to the real mode, and
M2044 turns off.
• If the virtual servomotor is operating also with 1 axis, not switch to the real
mode. In this case, the M2045 turns on, and the error code is stored in
the D9193.
(c) Refer to Chapter 9 for switching between the real and virtual modes.
(M3215+20n) is off and there is no servo error.
• The servo OFF command (M3215+20n) is on
• Servo error state
ON
OFF
ON
OFF
ON
OFF
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.......... Command signal