Mitsubishi Electric MELSEC Q Series Programming Manual page 111

3 START-UP PROCEDURES
(8) Refresh timing of input/output signal
Execute the refresh of input (X) and output (Y) of the user safety sequence
program of Motion CPU as the following timing. Direct refresh is unavailable.
Target module
Safety signal module
I/O module controlled by
Motion CPU other than
safety signal module
(Note-1): Refer to this section (7) for the execution order of sequence programs.
(9) Execution level and operation of sequence program processing
The execution levels of sequence programs for Motion CPU and contents of
each motion processing are shown below.
Process
Sequence program
execution processing
Motion operation
processing
Motion main
processing
(10) Sequence program check
When the PLC READY flag (M2000) of Motion CPU turns from OFF to ON,
check of the sequence program (detection of unavailable instructions, device
range check, etc.) is executed.
If any error is detected, "Safety observation error (error code: 10)" occurs, and
the Motion CPU cannot run the program. Confirm a detailed error code (SD33),
remove the cause of the error, and turn M2000 from OFF to ON. Refer to
chapter 6 for the contents of error codes and how to handle them.
Input (X) : Before execution of the sequence program that
P252 label was set
Output (Y) : At the END processing of the sequence program
which is the last to be executed
Main cycle of the Motion CPU
Contents
Safety signal monitoring processing, Execution of
user safety sequence program
Servo amplifier operating processing, Servo amplifier
communication processing, Motion SFC event task
processing, etc.
Communication processing with peripheral
equipment, Automatic refresh device processing,
Motion SFC normal task processing, etc.
3 - 28
Refresh Timing
(Note-1)
Priority
1 (high)
2
3 (low)