Instruction manual

4. SERVO SYSTEM CPU DEVICES
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(d) When M2000 turns OFF, the following processing is executed.
1) Processing details
• The PCPU READY flag (M9074) is turned OFF.
• Operating axes are decelerated to a stop.
POINT
The PLC READY flag (M2000) switches OFF when a servo system CPU
"STOP" status exists. When the RUN status is resumed, the status which
existed prior to the STOP will be re-established.
M2000
OFF
ON
RUN
→
STOP switching STOP
→
RUN switching
(2) Virtual servomotor START accept flags (M2001 to M2032)
................................................................................Signals from PCPU to SCPU
(a) The START accept flag switches ON when the sequence program's
positioning START instruction (SVST) is executed, and should be used for
SVST enabled/disabled interlock purposes.
SVST instruction execution request
SVST instruction execution enabled/
disabled determination
M2001 M2003
SVST J1J3 K1
Axis No.1 START
accept flag
Axis No.3 START
accept flag
(b) START accept flag ON/OFF processing occurs as shown below.
1) When the sequence program's SVST instruction is executed, the
START accept flag for the axis specified by the SVST instruction
switches ON, and the switches OFF when positioning is completed. The
START accept flag also switches OFF if positioning is stopped before
completion.
(The START accept flag ON, when positioning is stopped before
completion by the speed change for speed “0”.)
Dwell time
Positioning completed
Positioning
START
In-progress
STOP
completed
t
V
t
V
SVST
instruction
START
accept flag
Positioning
completed
signal
Positioning
START
completed
signal
SVST
instruction
START
accept flag
Positioning
completed
signal
Positioning
START
completed
signal
ON
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
When positioning is completed normally When positioning is stopped before completion