Common Device - Mitsubishi Electric A173UHCPU Programming Manual

3. POSITIONING SIGNALS
3.1.3

Common Device

POINTS
(1) Internal relays for positioning control are not latched even inside the latch
range.
In this manual, in order to indicate that internal relays for positioning
control are not latched, the expression used in this text is "M2000 to
M2319".
(2) The range of devices allocated as internal relays for positioning control
cannot be used by the user even if their applications have not been set.
(1) Sequencer READY flag (M2000) ..................... Signal sent from SCPU to PCPU
(a) This signal serves to notify the PCPU that the SCPU is normal. It is
switched ON and OFF by the sequence program.
1) While M2000 is ON, the positioning control or zeroing specified by the
servo program, or the JOG operation or manual pulse generator
operation specified by the sequence program, can be executed.
2) Even if M2000 is turned ON while the test mode for testing from a
peripheral device is effective (while M9075 is ON), control in 1) above will
not be executed.
(b) The fixed parameters, servo parameters, and limit switch output parameters
can only be changed using a peripheral device when M2000 is OFF. If an
attempt is made to change this data while M2000 is ON, an error will occur.
(c) When M2000 is switched from OFF to ON, the following processing occurs.
1) Processing details
• The servo parameters are transferred to the servo amplifier.
• The M-code storage area for all axes is cleared.
• The default value of 300% is set in the torque limit value storage area.
(See Section 4.4.)
• The PCPU READY-completed flag (M9074) is turned ON.
2) If there is an axis currently being driven, an error occurs, and the
processing in (c) 1) above is not executed.
3) While the test mode is in effect, the processing in (c) 1) above is not
executed. When the test mode is cancelled, the processing in (c) 1)
above is executed if M2000 is ON.
V
Positioning start
PLC READY flag
OFF
(M2000)
PCPU READY
OFF
completed flag
(M9074)
ON
ON
Servo parameters set in the servo
amplifiers, M-code cleared.
3 − 22
Deceleration to stop
The PCPU READY-completed
flag (M9074) does not come ON
because deceleration is in progress.
t