Instruction manual

4. SERVO SYSTEM CPU DEVICES
4 − 12
(1)PLC READY flag (M2000).................................Signal sent from SCPU to PCPU
(a) This signal notifies the PCPU that SCPU operation is normal. It is switched
ON and OFF by the sequence program.
1) When M2000 is ON, positioning or zeroing (REAL mode only) functions
can be executed by the servo program specified by the sequence
program, and JOG operations can be executed by the sequence
program.
2) When a TEST mode has been established ("M9075" TEST mode in
progress flag is ON) from a peripheral device, the functions described at
item (1) above will be inoperative even if M2000 is switched ON.
(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.
• 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 (1), (c) above is not executed.
3) While the test mode is in effect, the processing in (1), (c) above is not
executed.
When the test mode is cancelled, the processing in (1), (c) will be
executed if M2000 is ON.
V
Start of positioning
Deceleration to stop
The PCPU READY completed flag
(M9074) does not come ON because
deceleration is in progress.
Servo parameters set in the servo
amplifiers Clearance of M-codes
t
ON
OFF
ON
OFF
PLC ready flag
(M2000)
PCPU READY com-
pleted flag
(M9074)