Special Relays (Sp.m) - Mitsubishi Electric Q Series Programming Manual
Motion controller
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Also See for Q Series:
- Reference manual (444 pages) ,
- Programming manual (352 pages) ,
- User manual (276 pages)
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4 POSITIONING SIGNALS
4.4 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 4.2. (Refer to APPENDIX 2.4 "Special Relays"
for the applications of the special relays except for M9073 to M9079.)
Device No.
M9073
PCPU WDT error flag
M9074
PCPU REDAY complete flag
M9075
TEST mode ON flag
M9076
External forced stop input flag
M9077
Manual pulse generator axis setting error flag
M9078
TEST mode request error flag
M9079
Motion 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 4.5).
(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
(M2000)
PCPU READY
complete flag
(M9074)
Table 4.2 Special relay list
Signal name
4 - 80
Refresh cycle
Signal type
Main cycle
Status signal
t
The servo parameters are
written to the servo amplifiers
and the M-codes are cleared.
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