Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 199

■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=(D2004L&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=(D2014L&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
<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.
P0
P0
Error detection
P0
[G 30]
RST M0
//Check master CPU input axis error information
SET M0=(D8000L&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=(D2004L&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=(D2014L&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
P0
8 AUXILIARY AND APPLIED FUNCTIONS
8.4 Multiple CPU Advanced Synchronous Control
8
197